Orbit Type SCARA

Orbit Type
4kg to 5kg
Efficient Design


01 User: We want a smaller equipment footprint. Layout design freedom

The YK-TW can move anywhere through the full 1000 mm* downward range.

Featuring a ceiling-mount configuration with a wide arm rotation angle, the YK-TW can access any point within the full 1000 mm downward range. This eliminates all motion-related restrictions with regard to pallet and conveyor placement operations, while dramatically reducing the equipment footprint.

* Applies to the YK500TW

design freedom design freedom

Underpass motionOptimize use of the space right below the main unit

design freedom design freedom

design freedom design freedom

Improvement of productivity

The standard cycle time for moving 1-kg load horizontally 300 mm and up/down 25 mm is shortened by approximately 36 % compared to existing YAMAHA models.

* Measurement may vary depending on conditions.

design freedom

02 User: We want a higher quality assembly system. Higher quality

The YK-TW offers a repeated positioning accuracy of +/-0.01 mm* (XY axes).

This is a much higher repeated positioning accuracy than that offered by a parallel-link robot. This was accomplished by optimizing the robot's weight balance through an extensive re-design of its internal construction. The lightweight yet highly rigid arm has also been fitted with optimally tuned motors to enable high accuracy positioning.

* Applies to the YK350TW

quality assembly system quality assembly system

03 User: We need to reduce our tact times. Higher productivity

The YK-TW offers a standard cycle time of 0.29 secs*

The Y-axis (arm 2) passes beneath the X-axis (arm 1) and it has a horizontal articulated structure, allowing it to move along the optimal path between points. Moreover, the optimized weight balance of the internal components reduces the cycle time by 36 % as compared to previous models.

* Applies to the YK500TW


The standard cycle time for moving a 1-kg load horizontally 300 mm and up/down 25 mm is shortened by approx. 36 % compared to previous YAMAHA models.

04 User: We need to move heavy workpieces at high speeds. Suitable for a wide range of applications

The YK-TW can handle workpieces weighing up to 5 kg.

Handles loads up to 5 kg. Also accommodates arm-end tools which tend to be heavy, making it highly adaptable to various applications.

05 User: We want to reduce the height of our equipment. Smaller equipment footprint

The YK-TW offers both a low height and a small footprint.

The YK-TW height is only 392 mm. This compact size enables more freedom in the equipment layout design.


06 User: Parallel-link robots require large frames which complicate installation… Easy installation

The YK-TW has a total height of only 392 mm, and weighs only 27 kg*. Due to its low inertia, a sturdy frame is not required.

* Applies to the YK500TW

 Easy installation

An optional dedicated installation frame is available for the YK-TW. For details, contact a YAMAHA sales representative.

07 Preparing an installation stand is too much bother. A dedicated stand is available

Setup can be simplified

As an option, we provide a dedicated installation stand for the YK-TW.* There's no need to calculate strength, so setup can be simplified.

* Contact Yamaha for details on dimensions and price.

08 User: Operating our equipment in stringent environments is worrisome… Environment resistant

The YK-TW features the same type of resolver as those used in hybrid automobiles and aircraft.

This resolver is a magnetic position sensor. It features a simple construction with no electronic or optical parts, making it far less susceptible to failure than conventional optical encoders. It is this superior environment resistance and low failure rate that makes it reliable enough for use in many fields such as hybrid automobiles and aircraft, etc., where reliability is essential.

no electronic or optical parts


Clicking a desired model name allows you to see its detailed catalog.

Axis specifications X-axis Arm length 175mm 250mm
Rotation angle +/−225°
Y-axis Arm length 175mm 250mm
Rotation angle +/−225°
Z-axis Stroke 130mm
R-axis Rotation angle +/−720°
AC servo motor output X-axis / Y-axis / Z-axis / R-axis 750W / 400W / 200W / 105W
Deceleration mechanism X-axis / Y-axis / Z-axis / R-axis Speed reducer Harmonic drive / Harmonic drive / Ball screw / Belt speed reduction
Transmission method Motor to speed reducer Timing belt / Direct-coupled / Timing belt / Timing belt
Speed reducer to output Direct-coupled / Direct-coupled / Direct-coupled / Timing belt
RepeatabilityNote1 XY axes +/−0.01mm +/−0.015mm
Z-axis +/−0.01mm
R-axis +/−0.01°
Maximum speed XY axes synthesis 5.6m/sec 6.8m/sec
Z-axis 1.5m/sec
R-axis 3000°/sec
Maximum payloadNote2 5kg 5kg(RCX340) / 4kg(RCX240)
Standard cycle timeNote3 0.32sec(RCX340) / 0.38sec(RCX240) 0.29sec
R-axis tolerable moment of inertiaNote4 Rated 0.005kgm2
Maximum 0.05kgm2
User wirling 0.15sq×8wires
User tubing (Outer diameter) φ6×2
Travel limit 1.Soft limit 2.Mechanical stopper(X,Y,Z axis)
Robot cable length Standard:3.5m Option:5m, 10m
Weight 26kg 27kg

Note1 In constant ambient temperature.
Note2 Tool flange specifications (optional) apply to the YK350TW (4kg) and the YK500TW (RCX340:4kg / RCX240:3kg)
Note3 When moving a 1kg load back and forth 30 mm horizontally and 25 mm vertically (rough positioning arch motion).
Note4 May need to limit parameters (such as acceleration) according to the moment of inertia being used.
* The recommended positional relationship regarding the center of the load weight (center of gravity position) and the offset amount from the R-axis center are shown in the graph below.

Orbit Type | SCARA