2
Maximum value – Minimum value

CHAPTER 7 Specifications

1 Manipulator

1-1

Basic specification

 

 

 

 

 

 

 

 

 

 

 

 

 

 

 

 

 

 

 

 

Robot model

YK120X

 

YK150X

YK120XC

YK150XC

YK180X

 

YK220X

 

 

 

 

 

 

 

 

 

 

 

 

 

 

X-axis

Arm length

69.5mm

 

99.5mm

69.5mm

99.5mm

71mm

 

111mm

 

 

 

 

 

 

 

 

 

 

 

 

Rotation angle

±113°

 

±113°

±113°

±113°

±120°

 

±120°

 

 

 

 

 

 

Axis

 

 

 

 

 

 

 

 

 

 

 

 

Arm length

50.5mm

 

50.5mm

50.5mm

50.5mm

109mm

 

109mm

 

specifi-

Y-axis

 

 

 

 

 

 

 

 

 

 

 

 

 

Rotation angle

±139°

 

±139°

±139°

±139°

±140°

 

±140°

 

cations

 

 

 

 

 

Z-axis

Stroke

30mm

 

30mm

30mm

30mm

100mm

 

100mm

 

 

 

 

 

 

 

 

 

 

 

 

 

 

R-axis

Rotation angle

±360°

 

±360°

±360°

±360°

±360°

 

±360°

 

 

 

 

 

 

 

 

 

 

 

 

 

 

 

X-axis

15W

 

15W

15W

15W

50W

 

50W

 

 

 

 

 

 

 

 

 

 

 

 

 

Motor

Y-axis

13W

 

13W

13W

13W

30W

 

30W

 

 

 

 

 

 

 

 

 

 

 

Z-axis

13W

 

13W

13W

13W

30W

 

30W

 

 

 

 

 

 

 

 

 

 

 

 

 

 

 

 

 

 

 

 

R-axis

13W

 

13W

13W

13W

30W

 

30W

 

 

 

 

 

 

 

 

 

 

 

 

 

 

 

XY resultant

1.8m/s

 

2.1m/s

1.8m/s

2.1m/s

3.3m/s

 

3.4m/s

 

Maximum speed

 

 

 

 

 

 

 

 

 

 

Z-axis

0.7m/s

 

0.7m/s

0.5m/s

0.5m/s

0.7m/s

 

0.7m/s

 

 

 

 

 

 

 

 

 

 

 

 

 

 

 

R-axis

1700°/s

 

1700°/s

1700°/s

1700°/s

1700°/s

 

1700°/s

 

 

 

 

 

 

 

 

 

 

 

 

 

 

 

XY-axes

±0.005mm

 

±0.005mm

±0.01mm

±0.01mm

±0.01mm

 

±0.01mm

 

 

 

 

 

 

 

 

 

 

 

 

 

Repeatability *1

Z-axis

±0.01mm

 

±0.01mm

±0.01mm

±0.01mm

±0.01mm

 

±0.01mm

 

 

 

 

 

 

 

 

 

 

 

 

 

 

 

R-axis

±0.006°

 

±0.006°

±0.006°

±0.006°

±0.01°

 

±0.01°

 

 

 

 

 

 

 

 

 

 

 

 

Payload

 

 

 

0.5kg

 

1.0kg

 

 

 

 

 

 

 

 

 

 

 

 

R-axis tolerable moment of inertia *2

 

 

0.002kgm2 (0.02kgfcms2)

 

0.0098kgm2 (0.1kgfcms2)

 

 

 

 

 

 

 

 

 

 

 

 

 

User wiring

 

 

 

 

6 cables

 

 

 

 

 

 

 

 

 

 

 

 

 

 

 

 

User tubing

 

 

 

 

φ32

 

 

 

 

 

 

 

 

 

 

 

 

 

 

 

 

Travel limit

 

 

 

1.Soft limit 2.Mechanical limit (XYZ-axes)

 

 

 

 

 

 

 

 

 

 

 

 

 

 

 

Robot cable

 

 

 

 

3.5m (option: 5m, 10m)

 

 

 

 

 

 

 

 

 

 

 

 

 

 

 

Weight

 

3kg

 

3.1kg

3kg

3.1kg

7kg

 

 

 

 

 

 

 

 

 

 

 

 

 

Degree of cleanliness

 

Class 10 (0.1level during suction)

 

 

Suction amount

 

 

25N /min

 

*1 At constant ambient temperature, measured when the robot arm was moved 7 times in the same direction.

Repeatable positioning accuracy = ±

*2 There are limits to acceleration coefficient settings.

7-1

Page 149
Image 149
Yamaha YK120X, YK180X owner manual Manipulator, Basic specification

YK120X, YK180X specifications

The Yamaha YK180X and YK120X are two of the latest offerings from Yamaha in the sphere of high-performance synthesizers, designed to cater to both novice and professional musicians. These models are part of Yamaha's commitment to innovation, combining advanced technologies with user-friendly interfaces to create instruments that inspire creativity.

The YK180X stands out with its 88 weighted keys that emulate the feel of an acoustic piano. This feature is particularly beneficial for pianists who seek a realistic playing experience. In contrast, the YK120X offers 61 semi-weighted keys, making it more portable while still providing a satisfying touch that balances playability and responsiveness. Both models incorporate Yamaha's renowned Graded Hammer Standard action, ensuring that the playing experience aligns with traditional piano dynamics.

One of the key technological advancements in both models is the integrated Pure CF Sound Engine. This technology captures the nuances of Yamaha's acclaimed concert grand pianos, delivering rich and authentic sound across a wide range of musical styles. Additionally, the synthesis engines in these synths allow for an expansive palette of sounds, from lush strings and bold brass to rich synthetic tones, enabling musicians to explore various genres effortlessly.

Another impressive feature of the YK180X and YK120X is the extensive library of built-in voices and styles. The YK180X boasts over 600 voices and 200 styles, while the YK120X comes with a diverse selection of over 400 voices and 150 styles, providing users with an array of options to enhance their performance. Both models also include a user-friendly interface with intuitive navigation, allowing for quick access to features and customization.

Connectivity is a critical aspect, and both synthesizers include USB to Host ports for easy integration with computers and mobile devices. With MIDI in and out options, musicians can connect to other musical gear, making these models versatile companions for stage performances and studio recordings alike.

In terms of additional features, the YK180X and YK120X come equipped with a built-in metronome and transpose functions, essential tools for practicing and performing. Moreover, the onboard recording capabilities allow musicians to capture their ideas and compositions quickly and efficiently.

Overall, the Yamaha YK180X and YK120X are powerful and versatile synthesizers that cater to a wide range of musical needs, from home practice to professional settings. With their superior sound quality, realistic playability, and innovative features, they represent an excellent choice for musicians looking to elevate their musical journey.