GP25-12 specifications
The MOTOMAN-GP25-12 (AR2010) is the long-arm version in the same family as the GP25 (type YR-1-06VXH25), with a payload of 12 kg. The standard specifications are -A10 and -A11 (with a built-in high-current power cable and two air hoses). There is also a drip-proof specification, -C10.
Basic specifications
| Item | -A10 / -A11 | -C10 (drip-proof) |
|---|---|---|
| Structure | Vertically articulated | Same |
| Degree of freedom | 6 | 6 |
| Payload (wrist part) | 12 kg | 12 kg |
| Payload (U-arm) | 9 kg | 9 kg |
| Repeatability | 0.03 mm | 0.03 mm |
| Approx. mass | 260 kg | 275 kg |
| Protective enclosure | Body: IP54, wrist part: IP67 | Body: IP65, wrist part: IP67 |
| Mounting method | Floor-, ceiling-, wall-, tilt-mounted | Same |
| Power capacity | 2.0 kVA | 2.0 kVA |
| Applicable controller | YRC1000 (ERAR-1000-06VXH25-*) | Same |
| Equivalent continuous sound pressure level | 71 dB or less | 71 dB or less |
- The load applied on the U-arm varies depending on the load mass of the wrist part.
- Repeatability conforms to ISO 9283 (the Japanese manual cites JIS B 8432).
- For the tilt- and wall-mounted ways, the S-axis has a limited operating range.
- The ambient temperature in operation of the drip-proof specification (-C10) is 0 to +45 °C.
Range of motion and maximum speed
Same for -A10, -A11 and -C10.
| Axis | Range of motion | Maximum speed |
|---|---|---|
| S-axis (turning) | −180° to +180° (wall-mounted way: −30° to +30°) | 3.67 rad/s (210°/s) |
| L-axis (lower arm) | −105° to +155° | 3.67 rad/s (210°/s) |
| U-axis (upper arm) | −86° to +160° | 3.84 rad/s (220°/s) |
| R-axis (wrist roll) | −200° to +200° | 7.59 rad/s (435°/s) |
| B-axis (wrist pitch/yaw) | −150° to +150° | 7.59 rad/s (435°/s) |
| T-axis (wrist twist) | −455° to +455° | 12.2 rad/s (700°/s) |
The maximum speeds are upper limits. Actual speed drops with the load, posture and range of the 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 |
Compared with the GP25, the allowable moment and allowable inertia of the wrist are smaller. When choosing a tool, check that the moment and inertia calculated from its center of gravity stay within these values.
Related articles
- GP25-12 inspection, grease exchange and battery replacement
- GP25 specifications
- YRC1000 specifications
Source: based on YASKAWA manuals HW1484889 (GP25-12 instructions rev 4, Japanese) and HW1485971 (GP25-12 instructions, drip-proof specification, rev 0, Japanese). English terms follow HW1484890 (MOTOMAN-GP25-12 INSTRUCTIONS rev 2; older than the Japanese rev 4) and HW1485972 (MOTOMAN-GP25-12 INSTRUCTIONS, drip-proof, rev 0).