GP12 specifications
The MOTOMAN-GP12 is a 6-axis, vertically articulated manipulator with a 12 kg payload. Its type is YR-1-06VXH12. The standard specification is -A00, and -A01 is the welding cable specification, with the welding cable built in. Besides the YRC1000, it can be used with the compact YRC1000micro. The inspection items and the grease replenishment on the wrist side follow the same structure as the larger GP25.
Basic specifications (-A00 / -A01)
| Item | Value |
|---|---|
| Structure | Vertically articulated |
| Degree of freedom | 6 |
| Payload (wrist part) | 12 kg |
| Payload (U-arm) | 10 kg |
| Repeatability | 0.02 mm |
| Approx. mass | 150 kg |
| Protective enclosure | Body: IP54, wrist part: IP67 |
| Mounting method | Floor-, ceiling-, wall-, tilt-mounted |
| Power requirement | 1.5 kVA |
| Applicable controller | YRC1000 (ERAR-1000-06VXH25-□), YRC1000micro (ERBR-100-06VXH12-□) |
| Equivalent continuous A-weighted sound pressure level | 73 dB or less |
- The mountable load on the U-arm varies with the load mass of the wrist part.
- The Japanese manual gives the repeatability according to JIS B 8432. The English manual cites ISO 9283.
- The power requirement was measured under YASKAWA's own conditions. It changes with the load, the motion pattern and the cycle time.
- The last digit of the controller type number (□) depends on the specification.
Range of motion and maximum speed
| Axis | Range of motion | Maximum speed |
|---|---|---|
| S-axis (turning) | −170° to +170° (wall-mounted: −30° to +30°) | 4.53 rad/s (260°/s) |
| L-axis (lower arm) | −90° to +155° | 4.01 rad/s (230°/s) |
| U-axis (upper arm) | −85° to +150° | 4.53 rad/s (260°/s) |
| R-axis (wrist roll) | −200° to +200° | 8.20 rad/s (470°/s) |
| B-axis (wrist pitch/yaw) | −150° to +150° | 8.20 rad/s (470°/s) |
| T-axis (wrist twist) | −455° to +455° | 12.2 rad/s (700°/s) |
The maximum speed is the upper limit. The real speed drops depending on the load, the posture and the range of motion.
Allowable moment and allowable inertia of the wrist
| Axis | Allowable moment | Allowable inertia (GD²/4) |
|---|---|---|
| R-axis | 22 N·m (2.2 kgf·m) | 0.65 kg·m² |
| B-axis | 22 N·m (2.2 kgf·m) | 0.65 kg·m² |
| T-axis | 9.8 N·m (1.0 kgf·m) | 0.17 kg·m² |
When you choose a tool, check its mass, and also check that the moment and inertia calculated from its centre of gravity stay within these allowable values.
Drip-proof specification (-C00) and food grade grease specification (-F00)
| Item | Standard | Drip-proof (-C00) | Food grade grease (-F00) |
|---|---|---|---|
| Protective enclosure | Body: IP54, wrist part: IP67 | Body: IP65, wrist part: IP67 | Body: IP65, wrist part: IP67 |
| Approx. mass | 150 kg | 155 kg | 155 kg |
- The ambient temperature is 0 to +45 °C for the drip-proof specification and +15 to +45 °C for the food grade grease specification.
- The food grade grease specification is based on the drip-proof specification with only the grease changed, and is for handling applications only. For the grease, see GP12 inspection and grease exchange.
- If the food grade grease specification starts after being left out of operation near 15 °C for a long time, break in the R-axis at 50% of the maximum speed for about 5 minutes first.
- The food grade grease specification also changes the inspection schedule: a drain plug check (1000 h cycle) is added, and the overhaul is at 18000 h.
The repeatability of the drip-proof specification (-C00) differs between the Japanese and English instructions, so it is not shown on this page. Ask YASKAWA if you need it.
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Source: based on YASKAWA manuals HW1484059 (GP12/AR1440 instructions rev 6, Japanese), HW1485829 (GP12 instructions, drip-proof specification rev 0, Japanese) and HW1485681 (GP12 supplemental instructions, food grade grease rev 0, Japanese). English terms follow HW1484060 (MOTOMAN-GP12/AR1440 INSTRUCTIONS rev 4; older than the Japanese rev 6), HW1485830 (rev 1) and HW1485682 (rev 0).