1 SCARA robots SCARA robots The flexible picking system • Higher reliability (no belts in XG series, no electronic parts in movement). • Higher precision and speed. • Minimum maintenance. • Easier to use. • Higher rigidity. • Very compact design. System configuration PB MOTOR XM YM ZM RM PWR SRV SAFETY COM STD.DIO ROB I/O ZR OP.1 OP.3 OP.2 OP.4 RGEN ACIN N P N1 L1 L N SEL BATT ZR XY BATT ROB XY I/O PIN13-14 EXT.E-STOP ERR YRC OMRON PROFIBUS-DP Master DeviceNet Master Fieldbus Robot cables Ethernet or RS232C YRC robot controller CJ-series PLC VISION Programming box cable PB (Programming box) OMRON robot SCARA studio The detachable cables on the robot side are not available on all the models. Please, check the ordering information list for further details. NS-series HMI
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SCARA robots - Omron · SCARA robots 5 YRC Robot controller Note: The tracking board is required when using the tracking function.:::: YRC-Tracking board basic specifications
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1SCARA robots
SCARA robots
The flexible picking system• Higher reliability (no belts in XG series, no electronic
parts in movement).• Higher precision and speed.• Minimum maintenance.• Easier to use.• Higher rigidity.• Very compact design.
System configuration
PB
MOTOR
XM
YM
ZM
RM
PWR
SRV
SAFETY
COM
STD.DIO
ROBI/O
ZR
OP.1 OP.3
OP.2 OP.4RGEN
ACIN
N
P
N1
L1
L
N
SEL
BATTZR
XYBATT
ROB
XY
I/O
PIN13-14EXT.E-STOP
ERR
YRC
OMRON
PROFIBUS-DPMaster
DeviceNetMaster
Fieldbus
Robot cables
Ethernet or RS232C
YRC robot controller
CJ-series PLC
VISION
Programming box cable PB (Programming box)
OMRON robot
SCARA studio
The detachable cables on the robot sideare not available on all the models.
Please, check the ordering informationlist for further details.
NS-seriesHMI
2
YRC Robot controller
Specifications
Item DescriptionYRC YRC robot controller
Bas
ic s
pec
ific
atio
ns Number of controllable axes 4 axes maximum (Control simultaneously: 4 axes)
Controllable robots SCARA robotsMaximum power consumption 2500 VACapacity of the connected motor 1600 WDimensions (WxHxD) 180x250x235 mmWeight 6.5 kgInput power supply
Control power supply Single phase AC200 to 230 V +/-10% maximum (50/60 Hz)Motor power supply Single phase AC200 to 230 V +/-10% maximum (50/60 Hz)
Axi
s co
ntr
ol
Drive method AC full-digital software servoPosition detection method Multi-turn resolver with data backup function, Magnetic linear scaleOperating method PTP (Point to point), Linear interpolation, Circular interpolation, ARCHCoordinate system Joint coordinates, Cartesian coordinatesPosition indication units Pulses, mm (millimeters), deg (degrees)Speed setting 1% to 100% (In units of 1%. However speed is in units of 0.01% during single-axis operation by DRIVE statement)Acceleration setting 1. Automatic acceleration setting based on robot model type and end mass parameter
2. Setting based on acceleration and deceleration parameter (Setting by 1% unit)Resolution 16384 P/rev, 1 micronOrigin search method Incremental, absolute, semi-absolute
Pro
gra
m
Program language PSEUDO-BASIC (Conforming to JIS B8439 SLIM Language)Multitasks 8 tasks maximumSequence program 1 programPoint-data input method Manual data input (coordinate value input), Direct teaching, Teaching playback
Mem
ory
Memory capacity 364 KB (total capacity of program and points)(avaliable program capacity during use of maximum number of points is 84 KB)
Programs 100 program (Max.) 9.999: maximum lines per program 98 KB: maximum capacity per program Points 10.000 points: maximum number of pointsMemory Backup battery Lithium metallic battery (service life 4 years at a 0ºC to 40ºC)Internal flash memory 512 KB (ALL data only)
SAFETY Emergency stop input (Relay contact), Service mode input (NPN/PNP specification is set according to STD.DIO setting)
Brake output Relay contactOrigin sensor input Connectable to DC 24 V normally-closed contact sensorExternal communications RS232C: 1CH D-SUB9 (female) RS422: 1CH (Dedicated PB)Options Slots 4
Type Optional input/output (NPN/PNP): General input 24 points / General output 16 pointsCC-Link: Dedicated input 16 points, Dedicated output 16 points, General input 96 points, General output 96 points (4 nodes occupied)DeviceNet: Dedicated input 16 points, Dedicated output 16 points, General input 96 points, General output 96 pointsProfibus: Dedicated input 16 points, Dedicated output 16 points, General input 96 points, General output 96 pointsEthernet: IEEE802.3 10Mbps (10BASE-T)IVY: Camera input (2ch), camera trigger input, PC connection inputTracking: AB phase input, lighting trigger input, lighting power supply input/outputLighting control: lighting trigger input, lighting power supply input/output
Op
tio
ns Programming box PB (with enable switch)
Support software for PC SCARA STUDIO
Gen
eral
sp
ecif
icat
ion
s Operating temperature 0ºC to 40ºCStorage temperature -10ºC to 65ºCOperating humidity 35% to 85% RH (non-condensing)Absolute backup battery Lithium metallic battery 3.6 V 5400 mAH (2700 mAH x 2)Absolute data backup period 1 year (in state with no power applied)Noise immunity IEC61000-4-4 Level 3Protective structure IP10
SCARA robots
SCARA robots 3
YRC Robot controller
:
YRC-Optional Input/Output unit (PNP/NPN)
Item DescriptionR6YACMD241 (NPN)R6YACMD242 (PNP)
Optional Input/Output unit *1
*1 Please add one I/O connector (YKIOCONNECTOR) for each optional I/O unit.
Optional Input/Output (NPN/PNP) 24 General purpose input, 16 General purpose output
YRC-DeviceNet slave unit
Item DescriptionR6YACDRT01 DeviceNet slave unitApplicable controllers YRCApplicable DeviceNet specifications Volume 1 Release 2.0 / Volume 2 Release 2.0Device Profile Name Generic Device (device number 0)Number of occupied CH *1
*1 Use the robot parameter to select Normal or Compact.
Normal: Input/Output 24ch each, Compact: Input/Output 2ch eachMAC ID setting 0 to 63Transmission speed setting 500 Kbps, 250 Kbps, 125 Kbps (set using DIP switch on board)DeviceNetI/O *2
*2 Controller I/O are updated every 10ms.
Normal General input 96 points, General output 96 points, Dedicated input 16 points, Dedicated output 16 pointsCompact General input 16 points, General output 16 points, Dedicated input 16 points, Dedicated output 16 points
Parallel external I/O The master module and up to four ports can be controlled regardiess of the robot program by using the pseudoserialization function
Network length
Overall length *3
*3 These values apply when a thick cable is used. The distance is less when a fine cable is used or when thick and fine cables are mixed in use.
6 m max./39 m max., 6 m max./78 m max., 6 m max./156 m max.
Monitor LED MS (Module Status), NS (Network Status)
YRC-Profibus slave unit
Item DescriptionR6YACPRT01 Profibus slave unitApplicable controllers YRCCommunication profile Profibus-DP slaveNumber of occupied nodes 1 nodeSetting of station address 1 to 99 (set using Rotary switch on board)Setting of comunication speed 9.6 Kbps, 19.2 Kbps, 93.75 Kbps, 187.5 Kbps, 500 Kbps, 1.5 Mbps, 3 Mbps, 6 Mbps, 12 Mbps (automatic recognition)Profibus I/O *1
*1 The shortest I/O update interval of the controller is 10 ms but the actual I/O update time varies depending on the update time with the master station.
General input 96 points, General output 96 points, Dedicated input 16 points, Dedicated output 16 pointsParallel external I/O The master module and up to four ports can be controlled regardless of the robot program by using the pseudoserialization
Item DescriptionR6YACETN01 Ethernet unitApplicable controllers YRCNetwork specification As specified for Ethernet (IEEE802.3)Connector specification RJ-45 connector (8-pole modular connector) 1 portBaud rate 10 Mbps (10BASE-T)Communication mode Half Duplex (Half-duplex)Network protocol Application layer: TELNET / Transport layer: TCP / IP
Network layer: IP, ICMP, ARP / Data link layer:CSMA / CDPhysical layer: 10BASE-T
Number of simultaneous log inputs 1Setting of IP address, etc. Set from PBMonitor LED Run, Collision, Link, Transmit, Receive
4
YRC Robot controller
:
:
:
YRC-EtherNet/IP unit
Item DescriptionR6YACEIP01 EtherNet/IP unitApplicable controllers YRC version 1.64M or higherNetwork specifications Conforms to Ethernet (IEEE 802.3)Applicable EtherNet/IP specifications Volume 1: Common Industrial protocol (CIPTM) 3.8 / Volume 2: EtherNet/IP Adaption Edition 1.9Device type Generic Device (device number 43)Data size 48 bytes each for input/outputTransmission speed 10 Mbps/100 MbpsConnector specifications RJ-45 connector (8-pole modular connector) 1 portParallel external input Regardless of the robot program, the master module and up to four ports can be controlled using the emulated synchro-
nization functionMax. cable length 100 mMonitor LED Activity, Network status, Link, Module Status
External trigger input 2 pointsFunctions Search function Position offset, Auto registry of point dataSetup support functions Calibration, image storage function*2 (all images / specified image)
*2 Requires Windows PC.
Accessories for YRC-VISION board
Item DescriptionR6YACS1 CCD CAMERAR6YACCV003 Camera cable 3.5 mR6YACCV006 Camera cable 6 mR6YACCV009 Camera cable 9.5 m (3.5 m + 6 m)R6YACLE008 Lens 8 mmR6YACLE012 Lens 12 mmR6YACLE016 Lens 16 mmR6YACLE025 Lens 25 mmR6YACLR005 Close up ring 0.5 mmR6YACLR010 Close up ring 1.0 mmR6YACLR020 Close up ring 2.0 mmR6YACLR050 Close up ring 5.0 mm
SCARA robots 5
YRC Robot controller
Note: The tracking board is required when using the tracking function.:
:
:
:
YRC-Tracking board basic specifications
Item DescriptionR6YACTR01 Tracking board
Bas
ic s
pec
ific
atio
ns
Applicable controller YRC
Lig
hti
ng
co
ntr
ol s
ecti
on Number of lighting
connected unitsUp to 2 units
Light adjusting system PWM control (0 to 100%) (Cycle 60 KHz)Stroboscopic light (10 to 33000 µs)
Trigger S/W trigger, H/W triggerExternal trigger input 2 pointsLighting power input 12 VDC or 24 VDC
(Supplied from outside commonly to 2 channels)Lighting output When DC 12 V is supplied: Less than 30 W with 2 channels totaled
When DC 24 V is supplied: Less than 60 W with 2 channels totaled
Pu
lse
inp
ut
sect
ion
Number of encoder connected units
Up to 2 units
Encoder power source DC 5 V (Less than 500 mA with 2 channels totaled) (Supplied from controller)Applicable encoder Line driver equivalent to 26LS31 / 26C31 (Conforming to RS422)Input phase A, A, B, B, Z, ZMaximum response frequency
2 MHz
Counter / Step-up multiplication
0 to 65535 / Double, quadruple
Other Provided with broken wire detect function
Accessories for YRC-Tracking board
Item DescriptionR6YACCR005 Encoder cable for tracking 10m
YRC-Lighting control board basic specifications
Item DescriptionR6YACLI01 Lighting control boardBasic specifications
Applicable controller YRCNumber of lightingconnected units
Up to 2 units
Light adjusting system PWM control (0 to 100%) (Cycle 60KHz)Stroboscopic light (10 to 33000us)
Trigger S/W trigger, H/W triggerExternal trigger input 2 pointsLighting power input 12VDC or 24VDC (Supplied from outside commonly to 2 channels)Lighting output When DC12V is supplied: Less than 30W with 2 channels totaled
When DC24V is supplied: Less than 60W with 2 channels totaled
Item DescriptionR6YACSSC1 Support software SCARA StudioR6YACCC005 Communication cable 9-9 pinR6YACUSB005 USB communication cable
6
YRC Robot controller
YRC-Nomenclature
Connector name FunctionA XM/YM/ZM/RM Connectors for servomotor driveB ROB I/O [XY/ZR] Connectors for servomotor feedback and sensor signalsC SAFETY Input/output connector for safety function such as emergency stopD PB Connector for PBE COM RS-232C interface connector.F STD.DIO Connector for dedicated input/output and standard generalpurpose input/outputG OP.1 ,2, 3, 4 Conectors attached to optional expansion I/O boardsH BATT [XY/ZR] Battery connector for absolute backupI PB SEL PB selector switch contactJ RGEN [P/W/N] Connector for regenerative unitK AC IN [L/N/L1/N1] Terminal block for power cable. Use ring-tongue terminals to make connections.L FG Ground terminal (W) . Provide Class D grounding (100 ohms or less) .
PB
MOTOR
XM
YM
ZM
RM
PWR
SRV
SAFETY
COM
STD.DIO
ROBI/O
ZR
OP.1 OP.3
OP.2 OP.4RGEN
ACIN
N
P
N1
L1
L
N
SEL
BATTZR
XYBATT
ROB
XY
I/O
PIN13-14EXT.E-STOP
ERR
YRC
E COM
I PB SEL
C SAFETY
A XM
A YM
A ZM
A RM
G OP.1D PB
G OP.3
G OP.2 G OP.4
J RGEN
K ACIN
L FG
B ROB I/O XY
H BATT XY
H BATT ZR
B ROB I/O ZR
F STD.DIO
Connector names
SCARA robots 7
YRC Robot controller
Standard YRC
Dimensions
10.5
15.5
204
102
15.5
2569.75
139.5 15.5
5.5(t2)
180
250
10
5.544.8 100
265
290
5.527.6 180
(25)(50)
235 30(20)
15.5
102
204
15.5
25 69.75139.5 15.5
RGEN
ACIN
N
P
N1
L1
L
N
YRCOP.1 OP.3MOTOR
XM
PWR
SRV PB
ROBI/O
ERR
YM
XYBATT
XY
COM
SEL
ZM
ROBI/O
ZR
BATTZR
RM
SAFETY
13 14EXT.E-STOP
STD.DIO
OP.2 OP.4
L-type bracket attached to front L-type bracket attached to side (option)
rubber feet
Battery holder
Top view
Front view
Bottom view
Side view Rear view
7-M3 threaded mounting hole for L-type bracket; top panel thickness 2mm(See Note 1.)
Bracket can be attached to rear
Note 1: When installing this controller using the supplied L-type brackets, remove the rubber feet on the bottom plate.
7-M3 threaded mounting hole for L-type bracket; top panel thickness 2mm(See Note 1.)
8
YRC Robot controller
YRC with RGU2 option installed
P
N
RGEN
10.5
15.5
204
102
15.5
2569.75
139.5 15.5
157
RGU-2
5.5(t2)
180 8 40
250
10
5.544.8 100
265
290
5.527.6 180
(25)(50)
235 30(20)
15.5
102
204
15.5
25 69.75139.5 15.5
RGU-2
RGEN
ACIN
N
P
N1
L1
L
N
YRC RGU-2OP.1 OP.3MOTOR
XM
PWR
SRV PB
ROBI/O
ERR
YM
XYBATT
XY
COM
SEL
ZM
ROBI/O
ZR
BATTZR
RM
SAFETY
13 14EXT.E-STOP
STD.DIO
OP.2 OP.4
L-type bracket attached to front
Battery holder
rubber feet
L-type bracket attached to side (option)
Top view
Front view
Bottom view
Side view Rear view
7-M3 threaded mounting hole for L-type bracket; top panel thickness 2mm(See Note 1.)
Bracket can be attached to rear
7-M3 threaded mounting hole for L-type bracket; top panel thickness 2mm(See Note 1.)
SCARA robots 9
YRC Robot controller
YRC with RGU3 option installed
L-type bracket attached to front
rubber feet
L-type bracket attached to side (option)
Battery holder
RGU-3 YRC
10.5
15.5
15.5
204
102
25 139.5 15.569.75
235
62180(5.5)(t2)
265
290
250
10
44.8 1005.5
235 30(20)
(25)
27.6 1805.5
15.5
204
15.5
102
25 139.5 15.569.75
(50)
RGU-3
RGU-3
7-M3 threaded mounting hole for L-type bracket; top panel thickness 2mm(See Note 1.)
7-M3 threaded mounting hole for L-type bracket; top panel thickness 2mm(See Note 1.)
Top view
Front view
Bottom view
Side view Rear view
Bracket can be attached to rear
10
R6YXG120 TINY SERIES
Controller
Specifications
X axis Y axis Z axis R axisReach (mm) 120Maximum payload (kg) 1Repeatability*1 (XYZ:mm) (R:º)
*1 This is the value at a constant ambient temperature. (X,Y axes)
+/-0.005 +/-0.01 +/-0.004Axis specifications
Arm length (mm) 45 75 50 ----Rotation range (º) +/-125 +/-145 ---- +/-360
D-sub connector for user wiring (No. 1 to 10 usable)
104
93
A A
B B
014.5355972
148
187.5
381(Maximum 410 duringarm rotation)
42 47
57
016.5
46
94
142±2
51
1230
415
04
16h7 0-0.018
35
User tool installation range
13115015056
381
47
98
Z-axis upper end mechanicalstopper position4mm riseduring Z-axisreturn-to-origin
Z-axis lower endmechanical stopperposition
207050
1010
3939
Tapped hole for user wiring 6-M3x0.5 Depth 6The weight of the tool attached here should beadded to the tip mass
Widt
h ac
ross
flat 1
5
Hollow diameter 11
Cross section A-A
6H7
185.
5 (B
ase
size)
2513
5
8
92.5
2-R
6H7through-hole
4- 9M8 bolt for installation,4 bolts used
60 60
41
Working envelopeX-axis mechanical stopper position: 122°Y-axis mechanical stopper position: 132°
130° 120°
64º240
64º
120º 13
0°
R300
R150
R127
C
0
150
142±2
50127
5
150
Note. Inverse type is installed upside down.Option: User wiring/tubing through spline type
C
0
150
146±2
50127
5
150
View of A
Hollow diameter 11
90º
22.6
7±0.222
.6
22.6
22.6
4H7 +0.0120 through-hole
4- 4.5 through-hole
(Option)• Additional Z-axis upper limit stopper:
Allows changing the Z-axis origin position to a point 12mm,15mm or 18mm (in 3mm steps) lower than the standard position.
• Additional Z-axis lower limit stopper:Allows changing the Z-axis stopper position to a point17mm or more higher than the standard position.(Lower limit of working envelope: 4mm from additional stopper)(Cannot be used when user wiring and tubing are set throughspline shaft.)
A
016.5
46
9451
415
0498
146±230h7
0-0.021
55
4 24610
35
Z-axis upper end mechanicalstopper position 4mm riseduring Z-axis return-to-origin
Z-axis lower endmechanical stopperposition
Tool flange mount type
7.87.8
7.8
7.8
View of C
4-M3x0.5 through-hole(No phase relation to R-axis origin.)As this hole is intended for the wiring/tubing clamp, do not attach a largeload to it.
SCARA robots
27SCARA robots
R6YXGSW400 XG SERIES
R6YXGSU400 WALL-MOUNT / INVERSE TYPE
Controller
Specifications
X axis Y axis Z axis R axisW type U type
Reach (mm) 400Maximum payload (kg) 5 (4)*1
*1 Maximum payload is 4kg when tool flange and hollow shaft options are installed.
Repeatability*2 (XYZ:mm) (R:º)
*2 This is the value at a constant ambient temperature. (X,Y axes)
+/-0.01 +/-0.01 +/-0.004Axis specifications
Arm length (mm) 250 150 150 ----Rotation range (º) +/-125 +/-144 ---- +/-360
Motor to speed reducer Direct-coupledSpeed reducer to output Direct-coupled
AC servo motor output (W) 200 150 50 100Maximum speed (XYZ:m/sec) (R:º/sec) 6.1 1.1 1020 720Standard cicle time: with 2kg payload*3 (sec)
*3 When moving 25mm in vertical direction and 300mm in horizontal direction reciprocally.
0.49R axis allowable moment inertia*4 (kgm2)
*4 There are limits to the setting of the acceleration coefficient.
0.05User wiring (sq x pcs) 0.2 x 10User tubing (Outer diameter) Ø4 x 3Movement limit setting 1.Soft limit 2.Mechanical stopper (X, Y, Z axis)Robot cable length (m) 3.5, 5, 10Option Tool flange R6YACXGLF
Open shaft R6YACXGLSWeight (kg) (Excluding robot cable) 16
Controller Power consumption (VA) Operating methodYRC 1000 Programming / I/O point trace / Remote command / Operation using RS-232C communication
Ordering information
Type Description ModelWall-mount model SCARA Reach: 400mm, Vertical Stroke: 150mm, Max. payload: 5kg. R6YXGSW400150YRCR0Wall-mount inverse model SCARA Reach: 400mm, Vertical Stroke: 150mm, Max. payload: 5kg. R6YXGSU400150YRCR0
Dimensions
(Option)• Additional Z-axis upper limit stopper:
Allows changing the Z-axis origin position to a point 12mm,15mm or 18mm (in 3mm steps) lower than the standard position.
• Additional Z-axis lower limit stopper:Allows changing the Z-axis stopper position to a point17mm or more higher than the standard position.(Lower limit of working envelope: 4mm from additional stopper)(Cannot be used when user wiring and tubing are set throughspline shaft.)
125° 14
4º
125º
R205
240
R156
125°
144° 125°
R400
R150
Working envelopeX-axis mechanical stopper position: 127°Y-axis mechanical stopper position: 146°
7.87.8
7.8
7.8
View of C
4-M3x0.5 through-hole(No phase relation to R-axis origin.)As this hole is intended for the wiring/tubing clamp, do not attach a largeload to it.
C
0
150
142±2
50127
5
150
Note. Inverse type is installed upside down.Option: User wiring/tubing through spline type
43
1238 M4 ground terminal
140
13 2626
126136
90
D-sub connector for user wiring (No. 1 to 10 usable)
User tubing 1(φ6 black)User tubing 2(φ6 red)User tubing 3(φ6 blue)
User tubing 1(φ6 black)User tubing 2(φ6 red)
User tubing 3(φ6 blue)
D-SUB connectorfor user wiring(No.1 to 20 usable)
D-SUB connectorfor user wiring(No.1 to 20 usable)
M4 ground terminal
4040
3210M16×2 depth 20(Bottom of spline)
4-M4×0.7 through-hole for attachmentFour M4×10L binding screws are suppllied.Do not screw the screws in deeper than 10mm from bottom surface of aim.The weight of the tool attached here should be added to the tip mass.
Wid
th a
cros
s fla
t 19
Hol
low
dia
met
er
14
Cross section A-A
89.5
63
54
4014
20 h7
50
89
71
0
202
406
72
13.5
42
114
113
10
10
200
300
0
485988
97.5
374Z200mm stroke
474Z300mm stroke
163.5 2
50
18
8
A A
Flat surface has no phase relation toR-axis origin
User toolinstallation range8mm rise during
Z-axis return to origin
Z-axis lower endmechanical stopper position
2080
80
60
158
6- 11 through-holeM10 bolt for installation6 bolts used
6- 11 through-holeM10 bolt for installation6 bolts used
2-R
8H
7
50
10
4040
10 32M16 ×2 depth 20(Bottom of spline)
4-M4×0.7 through-hole for tool attachmentFour M4×10L binding screw are supplied.Do not screw the screws in deepre than 10mm.from bottom surface of arm.The weight of the tool attached here should be added to the tip mass.
3940
178
15272020
159
4046
106
120
100
89.530030071
User tubing 1(φ6 black)User tubing 2(φ6 red)
User tubing 3(φ6 blue)
User tubing 2(φ6 red)User tubing 3(φ6 blue)
User tubing 1(φ6 black)
D-SUB connectorfor user wiring(No.1 to 20 usable)
D-SUB connectorfor user wiring(No.1 to 20 usable)
M4 ground terminal
63
1440
20h7
50
89.5
54
10
10
200
300
71
89
013.5
42
114
202
439
0
50
374Z200mm stroke
474Z300mm stroke
18
485988
97.5
163.5 2
8
113
A A
User tool installation range
Flat surface has no phase relation toR-axis origin
8mm rise duringZ-axis return to origin
Z-axis lower endmechanical stopper position
Z axis stroke Model Name200 mm R6YXGSW600200300 mm R6YXGSW600300
Z axis stroke Model Name200 mm R6YXGSU600200300 mm R6YXGSU600300
Flat surface has no phase reration toR-axis origin
6mm rise duringZ-axis return to origin
Z-axis lower endmechanical stopper position
M 20 ×2.5 depth 20(Bottom of spline)
4848
15 36
4-M4×0.7 through-hole for tool attachmentFour M4×10L binding screws are supplied.Do not screw the screws in deeper than 10mm from bottom surface of arm.The weight of the tool attached here should be sdded to the tip mass.
198
75
8H7 through-hole
2597
.597
.5
245
(Bas
e si
ze)
2-R
6- 14 through-holeM12 bolt for installation6 bolts used
51
8H
7
10
130°
130°
R310
130°R700
R400
R400
130°
R700
130°
130°
R310
R400
R400
130°
130°
Z axis stroke Model Name200 mm R6YXGSW700200400 mm R6YXGSW700400
Z axis stroke Model Name200 mm R6YXGSU700200400 mm R6YXGSU700400
6- 14 through-holeM12 bolt for installation6 bolts used
8H
7
51
10
M 20 ×2.5 depth 20(Bottom of spline)
4848
15 36
4-M4×0.7 through-hole for tool attachmentFour M4×10L binding screws are supplied.Do not screw the screws in deeper than 10mm from bottom surface of arm.The weight of the tool attached here should be added to the tip mass.
114
160
120
19
47
219
2521
46
220
34
20
20
53
40040080
User tubing 1(φ6 black)
User tubing 1(φ6 black)
User tubing 2(φ6 red)
User tubing 2(φ6 red)
User tubing 3(φ6 blue)
User tubing 3(φ6 blue)
M4 ground terminal
D-SUB connectorfor user wiring(No.1 to 20 usable)
D-SUB connectorfor user wiring(No.1 to 20 usable)
79
114
4514
55
25h7
12863
200
400
6
12
12
86
98
0
71
247
520
30
65.5
150.5
0
35
585Z400mm stroke
385Z200mm stroke
3771.585.5
127.3132
196.3 2
A A
User tool installation range
Flat surface has no phase relation toR-axis origin
6mm rise duringZ-axis return to origin
Z-axis lower endmechanical stopper position
R800
130°
130°
R241
R400
R400
145°
145°
R80013
0°
130°
R241
R400
R400
145°
145°
Z axis stroke Model Name200 mm R6YXGSW800200400 mm R6YXGSW800400
Z axis stroke Model Name200 mm R6YXGSU800200400 mm R6YXGSU800400
4-M4×0.7 through-hole for tool attachmentFour M4×10L binding screws are supplied.Do not screw the screws in deeper than 10mm from bottom surface of arm.The weight of the tool attached here should be added to the tip mass.
114
79
55
25h7
4514
12863
98
86
0
247
65.5
30
150.5
71
520
200
12
1240
0
6
0
35
385Z200mm stroke
585Z400mm stroke
37
71.585.5
132127.3
196.3 2
A A
Flat surface has no phase relation toR-axis origin
User tool installation range
6mm rise duringZ-axis return to origin
Z-axis lower endmechanical stopper position
198
2597
.597
.5
245
(Bas
e si
ze)
75
8H7 through-hole
6- 14 through-holeM12 bolt for installation6 bolts used
2-R
8H
7
51
10
R900
130°
130°
R400
R253
R400
150°
150°
R900
R253
R400
130°
130°
150°
R400
150°
Z axis stroke Model Name200 mm R6YXGSW900200400 mm R6YXGSW900400
Z axis stroke Model Name200 mm R6YXGSU900200400 mm R6YXGSU900400
4-M4×0.7 through-hole for tool attachmentFour M4×10L binding screws are supplied.Do not screw the screws in deeper than 10mm from bottom surface of arm.The weight of the tool attached here should be added to the tip mass.
198
75
2597
.597
.5
245
(Bas
e si
ze)
8H7 through-hole
2-R
6- 14 through-holeM12 bolt for installation6 bolts used
8H
7
51
10
79
11425h7
55
4514
12863
6
200
400
12
12
86
98
0
71
247
520
30
65.5
150.5
0
35
385Z200mm stroke
585Z400mm stroke
3771.585.5
127.3
196.3 2
132 A A
User tool installation range
Flat surface has no phase relation toR-axis origin
6mm rise duringZ-axis return to origin
Z-axis lower endmechanical stopper position
R1000
130° 130°
R 324
150°
R400
R400
150°
R1000130° 130°
150°
R324
R400
R400
150°
Z axis stroke Model Name200 mm R6YXGSW1000200400 mm R6YXGSW1000400
Z axis stroke Model Name200 mm R6YXGSU1000200400 mm R6YXGSU1000400
SCARA robots
34
R6YXGLC250 XG SERIES - CLEAN TYPE
Controller
Specifications
X axis Y axis Z axis R axisReach (mm) 250Maximum payload (kg) 4Repeatability*1 (XYZ:mm) (R:º)
*1 This is the value at a constant ambient temperature. (X,Y axes)
+/-0.01 +/-0.01 +/-0.004Axis specifications
Arm length (mm) 100 150 150 ----Rotation range (º) +/-129 +/-134 ---- +/-360
AC servo motor output (W) 200 150 50 100Maximum speed (XYZ:m/sec) (R:º/sec) 4.5 1.1 1020Standard cicle time: with 2kg payload*2 (sec)
*2 When moving 25mm in vertical direction and 300mm in horizontal direction reciprocally.
0.57R axis allowable moment inertia*3 (kgm2)
*3 There are limits to the setting of the acceleration coefficient.
0.05User wiring (sq x pcs) 0.2 x 10User tubing (Outer diameter) Ø4 x 4Movement limit setting 1.Soft limit 2.Mechanical stopper (X, Y, Z axis)Robot cable length (m) 3.5, 5, 10Option Tool flange R6YACXGLFWeight (kg) (Excluding robot cable) 17.5Degree of cleanliness Class ISO 3 (ISO 14644-1)*4 + ESD*5
*4 Class 10 (0.1m) equivalent to FED-STD-209D.*5 ESD (ElectroStatic Discharge) prevention is an option. Please, contact your OMRON representative for more details.
Intake air (N l/min) 30*6
*6 The necessary intake amount varies depending on the use conditions and environment.
Controller Power consumption (VA) Operating methodYRC 1000 Programming / I/O point trace / Remote command / Operation using RS-232C communication
As this hole is intended for thewiring/tubing clamp, do notattach a large load to it.
4-M3 x 0.5 Depth 5(No phase relation to R-axis origin.)
96
62
53 130
104 60
6014
090
212
30
10 12
User tubing 1 ( 4 black)
User tubing 2 ( 4 red)
User tubing 3 ( 4 blue)User tubing 4 ( 4 white)Connector for user wiring
(No.1 to 10 usable, cable clamp size: 13.1 to15)Cover with the caps provided when not used.
Insert the plug provided when not used.
183 (Base size)
4- 9M8 bolt for installation, 4 bolts used
7050 20
39 101039
The weight of the tool attached here should beadded to the tip mass.
Tapped hole for user wiring 6-M3x0.5 Depth 6
0123245587193
0326198
6
312622.5
10
Connector for user wiring(No.1 to 10 usable, cable clamp size: 13.1 to15)
User tubing 2 ( 4 red)
User tubing 1 ( 4 black)
User tubing 4 ( 4 white)
Insert the plug provided when not used.
Cover with the caps provided when not used.
Suction air joint 12 User tubing 3 ( 4 blue)
M4 ground terminal
129°
129º
46º 46°
134°134°
184
R250
R108
R150
213
63
52
R40
• Note that the robot cannot be used at a position where the base flange, robot cable, spline, bellows, and tool flange interfere with each other in the working envelope shown above.
Z-axis upper end mechanical stopper positionZ-axis rises by 4mm during return-to-origin
0
167202221246
428
510
632±10Maximum 660during arm rotation
0
95.5
54.5±2
120133173
234264283
614
661689
809839
44
10015056 117Maximum 240 during arm rotation
575143 48
(150
)15
0
90
F
A A
Z-axis lower end mechanical stopper position
Widt
h ac
ross
flats:
15
Hollow
diamete
r: 11
Cross section A-A
42
16 h7 -0.0180
1010
70
User toolinstallationrange
38
Z axis tip shape
0
99.5
50.5±265
150
D
Tool flange mount type
-0.0210
55
2
4
35
Detailed drawing D
E 30 h7
7±0.02
22.6
22.6
22.6
22.622.6±0.02 90
°
0+ 0.012
through-hole
View of E
4 H7
4- 4.5 through-hole
Hollow
diameter: 11
SCARA robots
35SCARA robots
R6YXGLC350 XG SERIES - CLEAN TYPE
Controller
Specifications
X axis Y axis Z axis R axisReach (mm) 350Maximum payload (kg) 4Repeatability*1 (XYZ:mm) (R:º)
*1 This is the value at a constant ambient temperature. (X,Y axes)
+/-0.01 +/-0.01 +/-0.004Axis specifications
Arm length (mm) 200 150 150 ----Rotation range (º) +/-129 +/-134 ---- +/-360
AC servo motor output (W) 200 150 50 100Maximum speed (XYZ:m/sec) (R:º/sec) 5.6 1.1 1020Standard cicle time: with 2kg payload*2 (sec)
*2 When moving 25mm in vertical direction and 300mm in horizontal direction reciprocally.
0.57R axis allowable moment inertia*3 (kgm2)
*3 There are limits to the setting of the acceleration coefficient.
0.05User wiring (sq x pcs) 0.2 x 10User tubing (Outer diameter) Ø4 x 4Movement limit setting 1.Soft limit 2.Mechanical stopper (X, Y, Z axis)Robot cable length (m) 3.5, 5, 10Option Tool flange R6YACXGLFWeight (kg) (Excluding robot cable) 18Degree of cleanliness Class ISO 3 (ISO 14644-1)*4 + ESD*5
*4 Class 10 (0.1m) equivalent to FED-STD-209D.*5 ESD (ElectroStatic Discharge) prevention is an option. Please, contact your OMRON representative for more details.
Intake air (N l/min) 30*6
*6 The necessary intake amount varies depending on the use conditions and environment.
Controller Power consumption (VA) Operating methodYRC 1000 Programming / I/O point trace / Remote command / Operation using RS-232C communication
As this hole is intended for thewiring/tubing clamp, do notattach a large load to it.
4-M3 x 0.5 Depth 5(No phase relation to R-axis origin.)
0123245587193
0326198
6
312622.5
10
Connector for user wiring(No.1 to 10 usable, cable clamp size: 13.1 to15)
User tubing 2 ( 4 red)
User tubing 1 ( 4 black)
User tubing 4 ( 4 white)
Insert the plug provided when not used.
Cover with the caps provided when not used.
Suction air joint 12 User tubing 3 ( 4 blue)
M4 ground terminal
• Note that the robot cannot be used at a position where the base flange, robot cable, spline, bellows, and tool flange interfere with each other in the working envelope shown above.
Connector for user wiring(No.1 to 10 usable, cable clamp size: 13.1 to 15)Cover with the caps provided when not used.
User tubing 1 ( 4 black)Insert the plug provided when not used.
User tubing 2 ( 4 red)
User tubing 3 ( 4 blue)User tubing 4 ( 4 white)
4- 9M8 bolt for installation, 4 bolts used
90
0
167202221246
428
510
632±10Maximum 660during arm rotation
0
95.5
54.5±2
120133173
234264283
614
661689
809839
44
20015056 117Maximum 190 during arm rotation
575143
48
(150
)15
0
F
A A
Z-axis upper end mechanical stopper positionZ-axis rises by 4mm during return-to-origin
Z-axis lower end mechanical stopper position
7050 20
39 101039
The weight of the tool attached here should beadded to the tip mass.
Tapped hole for user wiring 6-M3 x 0.5 Depth 6
0
99.5
50.5±265
150
D
Tool flange mount type
SCARA robots
36
R6YXGLC400 XG SERIES - CLEAN TYPE
Controller
Specifications
X axis Y axis Z axis R axisReach (mm) 400Maximum payload (kg) 4Repeatability*1 (XYZ:mm) (R:º)
*1 This is the value at a constant ambient temperature. (X,Y axes)
+/-0.01 +/-0.01 +/-0.004Axis specifications
Arm length (mm) 250 150 150 ----Rotation range (º) +/-129 +/-144 ---- +/-360
AC servo motor output (W) 200 150 50 100Maximum speed (XYZ:m/sec) (R:º/sec) 6.1 1.1 1020Standard cicle time: with 2kg payload*2 (sec)
*2 When moving 25mm in vertical direction and 300mm in horizontal direction reciprocally.
0.57R axis allowable moment inertia*3 (kgm2)
*3 There are limits to the setting of the acceleration coefficient.
0.05User wiring (sq x pcs) 0.2 x 10User tubing (Outer diameter) Ø4 x 4Movement limit setting 1.Soft limit 2.Mechanical stopper (X, Y, Z axis)Robot cable length (m) 3.5, 5, 10Option Tool flange R6YACXGLFWeight (kg) (Excluding robot cable) 18.5Degree of cleanliness Class ISO 3 (ISO 14644-1)*4 + ESD*5
*4 Class 10 (0.1m) equivalent to FED-STD-209D.*5 ESD (ElectroStatic Discharge) prevention is an option. Please, contact your OMRON representative for more details.
Intake air (N l/min) 30*6
*6 The necessary intake amount varies depending on the use conditions and environment.
Controller Power consumption (VA) Operating methodYRC 1000 Programming / I/O point trace / Remote command / Operation using RS-232C communication
As this hole is intended for thewiring/tubing clamp, do notattach a large load to it.
4-M3 x 0.5 Depth 5(No phase relation to R-axis origin.)
0123245587193
0326198
6
312622.5
10
Connector for user wiring(No.1 to 10 usable, cable clamp size: 13.1 to15)
User tubing 2 ( 4 red)
User tubing 1 ( 4 black)
User tubing 4 ( 4 white)
Insert the plug provided when not used.
Cover with the caps provided when not used.
Suction air joint 12 User tubing 3 ( 4 blue)
M4 ground terminal
• Note that the robot cannot be used at a position where the base flange, robot cable, spline, bellows, and tool flange interfere with each other in the working envelope shown above.
Connector for user wiring(No.1 to 10 usable, cable clamp size: 13.1 to 15)Cover with the caps provided when not used.
User tubing 1 ( 4 black)Insert the plug provided when not used.
User tubing 2 ( 4 red)
User tubing 3 ( 4 blue)User tubing 4 ( 4 white)
4- 9M8 bolt for installation, 4 bolts used
117F
0
167202221246
428
510
632±10
0
95.5
54.5±2
120133173
234264283
614661689
809839
44
25015056
575143 48
(150
)15
0
A A
90
Z-axis upper end mechanical stopper positionZ-axis rises by 4mm during return-to-origin
Z-axis lower end mechanical stopper position
Maximum 660during arm rotation
Maximum 190 during arm rotation
7050 20
39 101039
The weight of the tool attached here should beadded to the tip mass.
Tapped hole for user wiring 6-M3 x 0.5 Depth 6
050.5±2
65
150
D
99.5Tool flange mount type
SCARA robots
37SCARA robots
R6YXGLC500 XG SERIES - CLEAN TYPE
Controller
Specifications
X axis Y axis Z axis R axisReach (mm) 500Maximum payload (kg) 4Repeatability*1 (XYZ:mm) (R:º)
*1 This is the value at a constant ambient temperature. (X,Y axes)
+/-0.01 +/-0.01 +/-0.004Axis specifications
Arm length (mm) 250 250 150 ----Rotation range (º) +/-129 +/-144 ---- +/-360
AC servo motor output (W) 200 150 50 100Maximum speed (XYZ:m/sec) (R:º/sec) 5.1 1.1 1020Standard cicle time: with 2kg payload*2 (sec)
*2 When moving 25mm in vertical direction and 300mm in horizontal direction reciprocally.
0.74R axis allowable moment inertia*3 (kgm2)
*3 There are limits to the setting of the acceleration coefficient.
0.05User wiring (sq x pcs) 0.2 x 10User tubing (Outer diameter) Ø4 x 4Movement limit setting 1.Soft limit 2.Mechanical stopper (X, Y, Z axis)Robot cable length (m) 3.5, 5, 10Option Tool flange R6YACXGLFWeight (kg) (Excluding robot cable) 21Degree of cleanliness Class ISO 3 (ISO 14644-1)*4 + ESD*5
*4 Class 10 (0.1m) equivalent to FED-STD-209D.*5 ESD (ElectroStatic Discharge) prevention is an option. Please, contact your OMRON representative for more details.
Intake air (N l/min) 30*6
*6 The necessary intake amount varies depending on the use conditions and environment.
Controller Power consumption (VA) Operating methodYRC 1000 Programming / I/O point trace / Remote command / Operation using RS-232C communication
As this hole is intended for thewiring/tubing clamp, do notattach a large load to it.
4-M3 x 0.5 Depth 5(No phase relation to R-axis origin.)
• Note that the robot cannot be used at a position where the base flange, robot cable, spline, bellows, and tool flange interfere with each other in the working envelope shown above.
Connector for user wiring(No.1 to 10 usable, cable clamp size: 13.1 to 15) Cover with the caps providedwhen not used.
User tubing 1 ( 4 black)Insert the plug provided when not used.
User tubing 2 ( 4 red)
User tubing 3 ( 4 blue)
User tubing 4 ( 4 white)
4- 9M8 bolt for installation, 4 bolts used
0
167202221256
441
523
675±10
0
82.5
67.5±2133146186247274296
627674702
822852
44
25025056 117
575143 48
(150
)15
0
F
90
A A
Z-axis upper end mechanical stopper positionZ-axis rises by 4mm during return-to-origin
Z-axis lower end mechanical stopper position
Maximum 730during arm rotation
Maximum 160 during arm rotation
50
1010
3939
70 20
The weight of the tool attached here should beadded to the tip mass.
Tapped hole for user wiring 4-M3 x 0.5 Depth 6
0123245587193
0326198
6
312622.5
10
User tubing 1 ( 4 black)
Insert the plug providedwhen not used
User tubing 2 ( 4 red)
Suction air joint 12
Connector for user wiring(No.1 to 10 usable, cableclamp size: 13.1 to 15)Cover with the caps providedwhen not used.
User tubing 4 ( 4 white)
User tubing 3 ( 4 blue)
M4 ground terminal
Tool flange mount type
0
86.5
63.5±278
150
D
SCARA robots
38
R6YXGLC600 XG SERIES - CLEAN TYPE
Controller
Specifications
X axis Y axis Z axis R axisReach (mm) 600Maximum payload (kg) 4Repeatability*1 (XYZ:mm) (R:º)
*1 This is the value at a constant ambient temperature. (X,Y axes)
+/-0.01 +/-0.01 +/-0.004Axis specifications
Arm length (mm) 350 250 150 ----Rotation range (º) +/-129 +/-144 ---- +/-360
AC servo motor output (W) 200 150 50 100Maximum speed (XYZ:m/sec) (R:º/sec) 4.9 1.1 1020Standard cicle time: with 2kg payload*2 (sec)
*2 When moving 25mm in vertical direction and 300mm in horizontal direction reciprocally.
0.74R axis allowable moment inertia*3 (kgm2)
*3 There are limits to the setting of the acceleration coefficient.
0.05User wiring (sq x pcs) 0.2 x 10User tubing (Outer diameter) Ø4 x 4Movement limit setting 1.Soft limit 2.Mechanical stopper (X, Y, Z axis)Robot cable length (m) 3.5, 5, 10Option Tool flange R6YACXGLFWeight (kg) (Excluding robot cable) 22Degree of cleanliness Class ISO 3 (ISO 14644-1)*4 + ESD*5
*4 Class 10 (0.1m) equivalent to FED-STD-209D.*5 ESD (ElectroStatic Discharge) prevention is an option. Please, contact your OMRON representative for more details.
Intake air (N l/min) 30*6
*6 The necessary intake amount varies depending on the use conditions and environment.
Controller Power consumption (VA) Operating methodYRC 1000 Programming / I/O point trace / Remote command / Operation using RS-232C communication
As this hole is intended for thewiring/tubing clamp, do notattach a large load to it.
4-M3 x 0.5 Depth 5(No phase relation to R-axis origin.)
• Note that the robot cannot be used at a position where the base flange, robot cable, spline, bellows, and tool flange interfere with each other in the working envelope shown above.
Motor to speed reducer Direct-coupledSpeed reducer to output Direct-coupled
AC servo motor output (W) 200 150 50 100Maximum speed (XYZ:m/sec) (R:º/sec) 4.5 1.1 1020Standard cicle time: with 2kg payload*2 (sec)
*2 When moving 25mm in vertical direction and 300mm in horizontal direction reciprocally.
0.57R axis allowable moment inertia*3 (kgm2)
*3 There are limits to the setting of the acceleration coefficient.
0.05Protection class*4
*4 Do not use robots where the bellows section is directly exposed to water jet. Contact your OMRON representative for information on drip-proof structure prevent-ing liquid other than water.
Equivalent to IP65 (IEC 60529)User wiring (sq x pcs) 0.2 x 10User tubing (Outer diameter) Ø4 x 4Movement limit setting 1.Soft limit 2.Mechanical stopper (X, Y, Z axis)Robot cable length (m) 3.5, 5, 10Option Tool flange R6YACXGLFWeight (kg) (Excluding robot cable) 17.5
Controller Power consumption (VA) Operating methodYRC 1000 Programming / I/O point trace / Remote command / Operation using RS-232C communication
As this hole is intended for thewiring/tubing clamp, do notattach a large load to it.
4-M3 x 0.5 Depth 5(No phase relation to R-axis origin.)
• Note that the robot cannot be used at a position where the base flange, robot cable, spline, bellows, and tool flange interfere with each other in the working envelope shown above.
Motor to speed reducer Direct-coupledSpeed reducer to output Direct-coupled
AC servo motor output (W) 200 150 50 100Maximum speed (XYZ:m/sec) (R:º/sec) 5.6 1.1 1020Standard cicle time: with 2kg payload*2 (sec)
*2 When moving 25mm in vertical direction and 300mm in horizontal direction reciprocally.
0.57R axis allowable moment inertia*3 (kgm2)
*3 There are limits to the setting of the acceleration coefficient.
0.05Protection class*4
*4 Do not use robots where the bellows section is directly exposed to water jet. Contact your OMRON representative for information on drip-proof structure prevent-ing liquid other than water.
Equivalent to IP65 (IEC 60529)User wiring (sq x pcs) 0.2 x 10User tubing (Outer diameter) Ø4 x 4Movement limit setting 1.Soft limit 2.Mechanical stopper (X, Y, Z axis)Robot cable length (m) 3.5, 5, 10Option Tool flange R6YACXGLFWeight (kg) (Excluding robot cable) 18
Controller Power consumption (VA) Operating methodYRC 1000 Programming / I/O point trace / Remote command / Operation using RS-232C communication
As this hole is intended for thewiring/tubing clamp, do notattach a large load to it.
4-M3 x 0.5 Depth 5(No phase relation to R-axis origin.)
• Note that the robot cannot be used at a position where the base flange, robot cable, spline, bellows, and tool flange interfere with each other in the working envelope shown above.
Motor to speed reducer Direct-coupledSpeed reducer to output Direct-coupled
AC servo motor output (W) 200 150 50 100Maximum speed (XYZ:m/sec) (R:º/sec) 6.1 1.1 1020Standard cicle time: with 2kg payload*2 (sec)
*2 When moving 25mm in vertical direction and 300mm in horizontal direction reciprocally.
0.57R axis allowable moment inertia*3 (kgm2)
*3 There are limits to the setting of the acceleration coefficient.
0.05Protection class*4
*4 Do not use robots where the bellows section is directly exposed to water jet. Contact your OMRON representative for information on drip-proof structure prevent-ing liquid other than water.
Equivalent to IP65 (IEC 60529)User wiring (sq x pcs) 0.2 x 10User tubing (Outer diameter) Ø4 x 4Movement limit setting 1.Soft limit 2.Mechanical stopper (X, Y, Z axis)Robot cable length (m) 3.5, 5, 10Option Tool flange R6YACXGLFWeight (kg) (Excluding robot cable) 18.5
Controller Power consumption (VA) Operating methodYRC 1000 Programming / I/O point trace / Remote command / Operation using RS-232C communication
As this hole is intended for thewiring/tubing clamp, do notattach a large load to it.
4-M3 x 0.5 Depth 5(No phase relation to R-axis origin.)
• Note that the robot cannot be used at a position where the base flange, robot cable, spline, bellows, and tool flange interfere with each other in the working envelope shown above.
Motor to speed reducer Direct-coupledSpeed reducer to output Direct-coupled
AC servo motor output (W) 200 150 50 100Maximum speed (XYZ:m/sec) (R:º/sec) 5.1 1.1 1020Standard cicle time: with 2kg payload*2 (sec)
*2 When moving 25mm in vertical direction and 300mm in horizontal direction reciprocally.
0.74R axis allowable moment inertia*3 (kgm2)
*3 There are limits to the setting of the acceleration coefficient.
0.05Protection class*4
*4 Do not use robots where the bellows section is directly exposed to water jet. Contact your OMRON representative for information on drip-proof structure prevent-ing liquid other than water.
Equivalent to IP65 (IEC 60529)User wiring (sq x pcs) 0.2 x 10User tubing (Outer diameter) Ø4 x 4Movement limit setting 1.Soft limit 2.Mechanical stopper (X, Y, Z axis)Robot cable length (m) 3.5, 5, 10Option Tool flange R6YACXGLFWeight (kg) (Excluding robot cable) 21
Controller Power consumption (VA) Operating methodYRC 1000 Programming / I/O point trace / Remote command / Operation using RS-232C communication
As this hole is intended for thewiring/tubing clamp, do notattach a large load to it.
4-M3 x 0.5 Depth 5(No phase relation to R-axis origin.)
• Note that the robot cannot be used at a position where the base flange, robot cable, spline, bellows, and tool flange interfere with each other in the working envelope shown above.
Motor to speed reducer Direct-coupledSpeed reducer to output Direct-coupled
AC servo motor output (W) 200 150 50 100Maximum speed (XYZ:m/sec) (R:º/sec) 4.9 1.1 1020Standard cicle time: with 2kg payload*2 (sec)
*2 When moving 25mm in vertical direction and 300mm in horizontal direction reciprocally.
0.74R axis allowable moment inertia*3 (kgm2)
*3 There are limits to the setting of the acceleration coefficient.
0.05Protection class*4
*4 Do not use robots where the bellows section is directly exposed to water jet. Contact your OMRON representative for information on drip-proof structure prevent-ing liquid other than water.
Equivalent to IP65 (IEC 60529)User wiring (sq x pcs) 0.2 x 10User tubing (Outer diameter) Ø4 x 4Movement limit setting 1.Soft limit 2.Mechanical stopper (X, Y, Z axis)Robot cable length (m) 3.5, 5, 10Option Tool flange R6YACXGLFWeight (kg) (Excluding robot cable) 22
Controller Power consumption (VA) Operating methodYRC 1000 Programming / I/O point trace / Remote command / Operation using RS-232C communication
As this hole is intended for thewiring/tubing clamp, do notattach a large load to it.
4-M3 x 0.5 Depth 5(No phase relation to R-axis origin.)
• Note that the robot cannot be used at a position where the base flange, robot cable, spline, bellows, and tool flange interfere with each other in the working envelope shown above.
Motor to speed reducer Direct-coupledSpeed reducer to output Direct-coupled
AC servo motor output (W) 400 200 200 200Maximum speed (XYZ:m/sec) (R:º/sec) 7.6 2.3 1.7 1700Standard cicle time: with 2kg payload*2 (sec)
*2 When moving 25mm in vertical direction and 300mm in horizontal direction reciprocally.
0.55R axis allowable moment inertia*3 (kgm2)
*3 There are limits to the setting of the acceleration coefficient.
0.3Protection class*4
*4 Do not use robots where the bellows section is directly exposed to water jet. Contact your OMRON representative for information on drip-proof structure prevent-ing liquid other than water.
Equivalent to IP65 (IEC 60529)User wiring (sq x pcs) 0.2 x 20User tubing (Outer diameter) Ø6 x 3Movement limit setting 1.Soft limit 2.Mechanical stopper (X, Y, Z axis)Robot cable length (m) 3.5, 5, 10Weight (kg) (Excluding robot cable) Z axis 200mm: 28, Z axis 300mm: 29
Controller Power consumption (VA) Operating methodYRC 1700 Programming / I/O point trace / Remote command / Operation using RS-232C communication
Connector for user wiring(No.1 to 20 usable, cable clamp size: 16 to 18)Cover with the caps provided when not used.
4- 11M10 bolt for installation, 4 bolts used
Note. Insert the plug provided when not used.
0
159187
259
373
479
710(Maximum 760 during arm rotation)
81 176200300
53 114
685
785Z300mmStroke
Z200mmStroke
0
117.6+/-2
245283351
Z-axis
rises
by
8mm
dur
ing
return
-to-or
igin.
10200 Z
-axis
stro
ke
10
300 Z
-axis
stro
ke20
Z-axis lower end mechanical stopper position
71 91
81
72 h7
151 (Maximum 300 during arm rotation)
0305070115120
38 (Air release tubing)
User tubing 1 ( 6 black)
M4 ground terminal
X axis joint air purge port ( 6)Y axis joint air purge port ( 6)
User tubing 2 ( 6 red)User tubing 3 ( 6 blue)
Connect a hose and extend itto a location not exposed towater and dust.
4025
40
Insert the plug provided when not used
Connector for user wiring(No.1 to 20 usable, cableclamp size: 16 to 18)Cover with the caps providedwhen not used.
292
130° 130°
107°
R500
R178
R300
R300
135
Working envelope of left-handed system
107º
Working envelope of right-handed system
292
130°
130°
R500
R300
R178
R300 135
• Note that the robot cannot be used at a position where the base flange, robot cable, spline, and bellows interfere with each other in the working envelope shown above.
• X-axis mechanical stopper position : 132º• Y-axis mechanical stopper position : 147º
60ºP.C.D.36
* There is no phase relation betweeneach position of M5 tapped holesand R-axis origin position.
36º
10-M5 x 0.8 Depth 116-M5 x 0.8 Depth 11
P.C.D.60
Z axis tip shape
25 H70
+0.021
72 h70
-0.03
620
SCARA robots
45SCARA robots
R6YXGP600 XG SERIES - DUST-PROOF & DRIP-PROOF TYPE
Controller
Specifications
X axis Y axis Z axis R axisReach (mm) 600Maximum payload (kg) 8Repeatability*1 (XYZ:mm) (R:º)
*1 This is the value at a constant ambient temperature. (X,Y axes)
+/-0.01 +/-0.01 +/-0.004Axis specifications
Arm length (mm) 300 300 200 300 ----Rotation range (º) +/-130 +/-145 ---- +/-360
Motor to speed reducer Direct-coupledSpeed reducer to output Direct-coupled
AC servo motor output (W) 400 200 200 200Maximum speed (XYZ:m/sec) (R:º/sec) 8.4 2.3 1.7 1700Standard cicle time: with 2kg payload*2 (sec)
*2 When moving 25mm in vertical direction and 300mm in horizontal direction reciprocally.
0.56R axis allowable moment inertia*3 (kgm2)
*3 There are limits to the setting of the acceleration coefficient.
0.3Protection class*4
*4 Do not use robots where the bellows section is directly exposed to water jet. Contact your OMRON representative for information on drip-proof structure prevent-ing liquid other than water.
Equivalent to IP65 (IEC 60529)User wiring (sq x pcs) 0.2 x 20User tubing (Outer diameter) Ø6 x 3Movement limit setting 1.Soft limit 2.Mechanical stopper (X, Y, Z axis)Robot cable length (m) 3.5, 5, 10Weight (kg) (Excluding robot cable) Z axis 200mm: 29, Z axis 300mm: 30
Controller Power consumption (VA) Operating methodYRC 1700 Programming / I/O point trace / Remote command / Operation using RS-232C communication
X axis joint air purge port ( 6)Y axis joint air purge port ( 6)
User tubing 2 ( 6 red)User tubing 3 ( 6 blue)
Connect a hose and extend itto a location not exposed towater and dust.
4025
40
Insert the plug provided when not used
Connector for user wiring(No.1 to 20 usable, cableclamp size: 16 to 18)Cover with the caps providedwhen not used.
• Note that the robot cannot be used at a position where the base flange, robot cable, spline, and bellows interfere with each other in the working envelope shown above.
• X-axis mechanical stopper position : 132º• Y-axis mechanical stopper position : 147º
60ºP.C.D.36
* There is no phase relation betweeneach position of M5 tapped holesand R-axis origin position.
36º
10-M5 x 0.8 Depth 116-M5 x 0.8 Depth 11
P.C.D.60
Z axis tip shape
25 H70
+0.021
72 h70
-0.03
620
256
130° 130°
128º135
R300
R300
R600
R180
Working envelope of left-handed system
25613
0° 130°
128°
R600
R180 R300
R300
135
Working envelope of right-handed system
250
40 12062
120
7979 17
8
222(Base size)
16
100
Connector for user wiring(No.1 to 20 usable, cable clamp size: 16 to 18) Cover with the caps provided when not used.
Motor to speed reducer Direct-coupledSpeed reducer to output Direct-coupled
AC servo motor output (W) 750 400 400 200Maximum speed (XYZ:m/sec) (R:º/sec) 7.7 2.3 1.7 920Standard cicle time: with 2kg payload*2 (sec)
*2 When moving 25mm in vertical direction and 300mm in horizontal direction reciprocally.
0.57R axis allowable moment inertia*3 (kgm2)
*3 There are limits to the setting of the acceleration coefficient.
1.0Protection class*4
*4 Do not use robots where the bellows section is directly exposed to water jet. Contact your OMRON representative for information on drip-proof structure prevent-ing liquid other than water.
Equivalent to IP65 (IEC 60529)User wiring (sq x pcs) 0.2 x 20User tubing (Outer diameter) Ø6 x 3Movement limit setting 1.Soft limit 2.Mechanical stopper (X, Y, Z axis)Robot cable length (m) 3.5, 5, 10Weight (kg) (Excluding robot cable) Z axis 200mm: 48, Z axis 400mm: 50
Controller Power consumption (VA) Operating methodYRC 2500 Programming / I/O point trace / Remote command / Operation using RS-232C communication
• Note that the robot cannot be used at a position where the base flange, robot cable, spline, and bellows interfere with each other in the working envelope shown above.
• X-axis mechanical stopper position : 132º• Y-axis mechanical stopper position : 152º
Motor to speed reducer Direct-coupledSpeed reducer to output Direct-coupled
AC servo motor output (W) 750 400 400 200Maximum speed (XYZ:m/sec) (R:º/sec) 8.4 2.3 1.7 920Standard cicle time: with 2kg payload*2 (sec)
*2 When moving 25mm in vertical direction and 300mm in horizontal direction reciprocally.
0.52R axis allowable moment inertia*3 (kgm2)
*3 There are limits to the setting of the acceleration coefficient.
1.0Protection class*4
*4 Do not use robots where the bellows section is directly exposed to water jet. Contact your OMRON representative for information on drip-proof structure prevent-ing liquid other than water.
Equivalent to IP65 (IEC 60529)User wiring (sq x pcs) 0.2 x 20User tubing (Outer diameter) Ø6 x 3Movement limit setting 1.Soft limit 2.Mechanical stopper (X, Y, Z axis)Robot cable length (m) 3.5, 5, 10Weight (kg) (Excluding robot cable) Z axis 200mm: 50, Z axis 400mm: 52
Controller Power consumption (VA) Operating methodYRC 2500 Programming / I/O point trace / Remote command / Operation using RS-232C communication
• Note that the robot cannot be used at a position where the base flange, robot cable, spline, and bellows interfere with each other in the working envelope shown above.
• X-axis mechanical stopper position : 132º• Y-axis mechanical stopper position : 152º
4025
35
X axis joint air purge port ( 6)Y axis joint air purge port ( 6)
Motor to speed reducer Direct-coupledSpeed reducer to output Direct-coupled
AC servo motor output (W) 750 400 400 200Maximum speed (XYZ:m/sec) (R:º/sec) 9.2 2.3 1.7 920Standard cicle time: with 2kg payload*2 (sec)
*2 When moving 25mm in vertical direction and 300mm in horizontal direction reciprocally.
0.58R axis allowable moment inertia*3 (kgm2)
*3 There are limits to the setting of the acceleration coefficient.
1.0Protection class*4
*4 Do not use robots where the bellows section is directly exposed to water jet. Contact your OMRON representative for information on drip-proof structure prevent-ing liquid other than water.
Equivalent to IP65 (IEC 60529)User wiring (sq x pcs) 0.2 x 20User tubing (Outer diameter) Ø6 x 3Movement limit setting 1.Soft limit 2.Mechanical stopper (X, Y, Z axis)Robot cable length (m) 3.5, 5, 10Weight (kg) (Excluding robot cable) Z axis 200mm: 52, Z axis 400mm: 54
Controller Power consumption (VA) Operating methodYRC 2500 Programming / I/O point trace / Remote command / Operation using RS-232C communication
• Note that the robot cannot be used at a position where the base flange, robot cable, spline, and bellows interfere with each other in the working envelope shown above.
• X-axis mechanical stopper position : 132º• Y-axis mechanical stopper position : 152º
4025
35
X axis joint air purge port ( 6)Y axis joint air purge port ( 6)
Motor to speed reducer Direct-coupledSpeed reducer to output Direct-coupled
AC servo motor output (W) 750 400 400 200Maximum speed (XYZ:m/sec) (R:º/sec) 9.9 2.3 1.7 920Standard cicle time: with 2kg payload*2 (sec)
*2 When moving 25mm in vertical direction and 300mm in horizontal direction reciprocally.
0.59R axis allowable moment inertia*3 (kgm2)
*3 There are limits to the setting of the acceleration coefficient.
1.0Protection class*4
*4 Do not use robots where the bellows section is directly exposed to water jet. Contact your OMRON representative for information on drip-proof structure prevent-ing liquid other than water.
Equivalent to IP65 (IEC 60529)User wiring (sq x pcs) 0.2 x 20User tubing (Outer diameter) Ø6 x 3Movement limit setting 1.Soft limit 2.Mechanical stopper (X, Y, Z axis)Robot cable length (m) 3.5, 5, 10Weight (kg) (Excluding robot cable) Z axis 200mm: 54, Z axis 400mm: 56
Controller Power consumption (VA) Operating methodYRC 2500 Programming / I/O point trace / Remote command / Operation using RS-232C communication
• Note that the robot cannot be used at a position where the base flange, robot cable, spline, and bellows interfere with each other in the working envelope shown above.
• X-axis mechanical stopper position : 132º• Y-axis mechanical stopper position : 152º
4025
35
X axis joint air purge port ( 6)Y axis joint air purge port ( 6)
Motor to speed reducer Direct-coupledSpeed reducer to output Direct-coupled
AC servo motor output (W) 750 400 400 200Maximum speed (XYZ:m/sec) (R:º/sec) 10.6 2.3 1.7 920Standard cicle time: with 2kg payload*2 (sec)
*2 When moving 25mm in vertical direction and 300mm in horizontal direction reciprocally.
0.59R axis allowable moment inertia*3 (kgm2)
*3 There are limits to the setting of the acceleration coefficient.
1.0Protection class*4
*4 Do not use robots where the bellows section is directly exposed to water jet. Contact your OMRON representative for information on drip-proof structure prevent-ing liquid other than water.
Equivalent to IP65 (IEC 60529)User wiring (sq x pcs) 0.2 x 20User tubing (Outer diameter) Ø6 x 3Movement limit setting 1.Soft limit 2.Mechanical stopper (X, Y, Z axis)Robot cable length (m) 3.5, 5, 10Weight (kg) (Excluding robot cable) Z axis 200mm: 56, Z axis 400mm: 58
Controller Power consumption (VA) Operating methodYRC 2500 Programming / I/O point trace / Remote command / Operation using RS-232C communication
• Note that the robot cannot be used at a position where the base flange, robot cable, spline, and bellows interfere with each other in the working envelope shown above.
• X-axis mechanical stopper position : 132º• Y-axis mechanical stopper position : 152º
4025
35
X axis joint air purge port ( 6)Y axis joint air purge port ( 6)
X, Y, R axis joint section intake pipe (bulkhead union Ø6)
R109
R109
R71
R30
30
R180
67
140°120°
57°
140°12
0° 120°
120° 140
°140°
57°
67R109
R71
30
R30
R180
R109
133°+/ -5°
Ø30h7 0-0.021
Left-hand side system operation range Right-hand side system operation range
User tubes 1 (Barb fitting Ø3)
User tubes 2 (Barb fitting Ø3)
X-axis and Y-axis origin positions
(When the arm turns 510)
Aft
er r
etur
ning
to
orig
in o
f Z
axis
R
ise
by 5
mm
105
+/-
2 (Z
-axi
s or
igin
pos
ition
)
The user tool installation flange center line is offset within +/-5° relative to the R axis origin point. Move counterclockwise in advance from the above
position when performing origin return.
X axis origin point is 0°+/-5° from the base front surface
M3 grounding terminal
SCARA robots
53SCARA robots
R6YXC220 CLEAN TYPE
Controller
Specifications
X axis Y axis Z axis R axisReach (mm) 220Maximum payload (kg) 1Repeatability*1 (XYZ:mm) (R:º) +/-0.01 +/-0.01 +/-0.004Axis specifications Arm length (mm) 111 109 100 ----
Rotation range (º) +/-120 +/-140 ---- +/-360AC servo motor output (W) 50 30 30 30Maximum speed (XYZ:m/sec) (R:º/sec) 3.4 0.7 1700Standard cicle time: with 0.1kg payload*2 (sec) 0.45R axis allowable moment inertia*3 (kgm2) 0.01User wiring (sq x pcs) 0.1 x 8User tubing (Outer diameter) Ø3 x 2Movement limit setting 1.Soft limit 2.Mechanical stopper (X, Y, Z axis)Robot cable length (m) 3.5, 5, 10Weight (kg) (Excluding robot cable)*4 6.5Robot cable weight 1.5kg (3.5m), 2.1kg (5m), 4.2kg (10m)Degree of cleanliness CLASS 10 (0.1 micron base)Intake air (N l/min) 30
*1 This is the value at a constant ambient temperature. (X,Y axes)*2 When moving 25mm in vertical direction and 100mm in horizontal direction reciprocally.*3 There are limits to the setting of the acceleration coefficient.*4 The total robot weight is the sum of the robot body weight and the cable weight.
Controller Power consumption (VA) Operating methodYRC 500 Programming / I/O point trace / Remote command / Operation using RS-232C communication