YAMAHA Scara Industrial Robot Arm YK400XE-4 with RCX340 Controller

**Unit is unable for fully test. Missing Power Cord and other components for fully test. Has slight cosmetic blemishes from normal use. See photos for further details.

For improved efficiency and reliability in production at affordable price Yamaha Scara Robot Arm YK400XE-4 Low cost High performance, 400mm Arm reach compact scara robot standard type.

Improvement of productivity by high-speed operation: A standard cycle time of 0.41 sec. that is approx. 10% shorter than the conventional model is achieved by reviewing the arm structure to reduce the vibration or optimizing the workpiece motion. High-speed, less-vibration, and agile operation contributes to improvement of the productivity.

For a wide variety of applications: The maximum payload is 1.4 times larger than the conventional model. With a totally redesigned drive system and arm structure, maximum payload capacity of YK400XE is now 4 kg. This is 1.4 times larger than current economy type SCARA and will widen a range of application.

Affordable Price and Improved Performance: Same price range as economy YK400XR, its payload capacity, dynamic performance, and tracking accuracy are drastically improved.

Improved performance in tracking: The tracking accuracy is improved by using optimal parameters for the performance area (actual usage area) and improving the performance of the controller “RCX340”. The robot is optimal for precision assembly and sealing operation.

In Yamaha YK400XE Acceleration/Deceleration is optimized automatically: The optimal acceleration and deceleration are automatically selected from the arm posture at the time of operation start and the arm posture at the time of operation end. The motor peak torque or the tolerable peak torque of the speed reducer is not exceeded by inputting only three parameters. The full power of the motor is always output to maintain the high acceleration/deceleration.

Easier operation in combination with the RCX340 controller

RCX340 comprehensive controller brings out maximum potential of YK400XE robot system. Optional integrated vision system “iVY2” provides simplified image processing. Choice of PC Programming Software or Teaching Pendant available.

This optimization feature helps:
• Extends service/maintenance period
• Minimizes vibration during operation
• Controllability in motion
• Keeps peak torque within a tolerance to prevent premature failure

Specifications

Y-Axis Arm length	175 mm
Rotation angle	+/-150 °
AC servo motor output	100 W
Deceleration mechanism/ Transmission method/ Motor to speed reduce Speed reducer to output	Direct-coupled/ Direct-coupled
Repeatability	+/-0.01 mm
Maximum speed	6 m/sec
Maximum payload	4 kg (Standard specifi cation), 3 kg (Option specifi cations
Standard cycle time: with 2kg payload	0.41 sec
R-axis tolerable moment of inertia	0.05 kgm2 (0.5 kgfcms2)
User wiring	0.2 sq × 10 wires
User tubing (Outer diameter)	4 × 3
Travel limit	1.Soft limit 2.Mechanical stopper (X,Y,Z axis)
Robot cable length	Standard: 3.5 m Option: 5 m, 10 m
Controller	Power Capacity 1000 Operation using RS-232C

Yamaha

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