• Used Yamaha Yk250xg Industrial Robot 4-Axis

Axis Specifications:

• X-axis: Arm length of 100mm, rotation angle of +/-140 degrees, AC servo motor output of 200W, direct-coupled motor to speed reducer transmission, direct-coupled speed reducer to output transmission, repeatability of +/-0.01mm, maximum speed of 4.5m/sec, maximum payload of 5kg (standard specification), and a standard cycle time of 0.43 seconds with a 2kg payload.
• Y-axis: Arm length of 150mm, rotation angle of +/-144 degrees, AC servo motor output of 150W, direct-coupled motor to speed reducer transmission, direct-coupled speed reducer to output transmission, repeatability of +/-0.01mm, maximum speed of 1.1m/sec, maximum payload of 5kg (standard specification), and a standard cycle time of 0.43 seconds with a 2kg payload.
• Z-axis: Arm length of 150mm, no specified rotation angle, AC servo motor output of 50W, direct-coupled motor to speed reducer transmission, direct-coupled speed reducer to output transmission, repeatability of +/-0.004 degrees, maximum speed of 1020 degrees/sec, maximum payload of 5kg (standard specification), and a standard cycle time of 0.43 seconds with a 2kg payload.
• R-axis: No specified arm length, rotation angle of +/-360 degrees, AC servo motor output of 100W, direct-coupled motor to speed reducer transmission, direct-coupled speed reducer to output transmission, repeatability of +/-0.01mm, maximum speed of 4.5m/sec, maximum payload of 5kg (standard specification), and a standard cycle time of 0.43 seconds with a 2kg payload. It also mentions a tolerable moment of inertia of 0.05 kgm^2 (0.5 kgfcms^2) for the R-axis.

Other Specifications:

• Deceleration Mechanism: The X-axis, Y-axis, and R-axis use a direct-coupled transmission from the motor to the speed reducer.
• Transmission Method: The X-axis, Y-axis, and R-axis have a direct-coupled transmission from the speed reducer to the output.
• Repeatability: The repeatability for the X-axis and Y-axis is specified as +/-0.01mm, and for the Z-axis, it is specified as +/-0.004 degrees.
• Maximum Payload: The standard specification is 5kg, but there is an option for 4kg payload (Note 4).
• User Wiring: The specification mentions a user wiring size of 0.2 sq × 10 wires.
• User Tubing: The specification mentions a user tubing size of ϕ4 × 3 (outer diameter).
• Travel Limit: The X, Y, and Z axes have soft limits and mechanical stoppers to define their travel limits.
• Robot Cable Length: The standard robot cable length is 3.5 meters, with options for 5 meters and 10 meters.
• Weight: The weight of the system is 18.5kg.