GP25 specifications
The MOTOMAN-GP25 is a 6-axis, vertically articulated manipulator with a 25 kg payload, used with the YRC1000. Its type is YR-1-06VXH25. The standard specification is -A00, and -A01 is the high-current power cable specification, with the high-current power cable and two air hoses built in. The B- and T-axes of the wrist are driven by timing belts.
Basic specifications (-A00 / -A01)
| Item | Value |
|---|---|
| Structure | Vertically articulated |
| Degree of freedom | 6 |
| Payload (wrist part) | 25 kg |
| Payload (U-arm) | 12 kg |
| Repeatability | 0.02 mm |
| Approx. mass | 250 kg |
| Protective enclosure | Body: IP54, wrist part: IP67 |
| Mounting method | Floor-, ceiling-, wall-, tilt-mounted |
| Power requirement | 2.0 kVA |
| Applicable controller | YRC1000 (ERAR-1000-06VXH25-□) |
| Equivalent continuous A-weighted sound pressure level | 71 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) | −180° to +180° (wall-mounted: −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° | 4.63 rad/s (265°/s) |
| R-axis (wrist roll) | −200° to +200° | 7.33 rad/s (420°/s) |
| B-axis (wrist pitch/yaw) | −150° to +150° | 7.33 rad/s (420°/s) |
| T-axis (wrist twist) | −455° to +455° | 15.44 rad/s (885°/s) |
The maximum speed is the upper limit. The real speed drops depending on the load, the posture and the range of motion. For an S-axis range of up to ±90° when wall-mounted, there is a dedicated wall-mounted S-axis ±90° specification (-A50).
Allowable moment and allowable inertia of the wrist
| Axis | Allowable moment | Allowable inertia (GD²/4) |
|---|---|---|
| R-axis | 52 N·m (5.3 kgf·m) | 2.3 kg·m² |
| B-axis | 52 N·m (5.3 kgf·m) | 2.3 kg·m² |
| T-axis | 32 N·m (3.3 kgf·m) | 1.2 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.
Other specifications
| Type | Description |
|---|---|
| YR-1-06VXH25-C00 | Drip-proof specification (body IP65, approx. mass 265 kg) |
| YR-1-06VXH25-F40 | Food grade grease (based on the drip-proof specification, approx. mass 265 kg) |
| YR-1-06VXH25-A50 | Wall-mounted S-axis ±90° specifications |
| YR-1-06VXH25-A80 | Form cutting specifications (basic axis speed reducer for high accuracy) |
The differences are summarised in GP25 variants (drip-proof, food grade grease, wall-mounted, form cutting).
Related articles
- GP25 inspection, grease exchange and battery replacement
- GP25 variants (drip-proof, food grade grease, wall-mounted, form cutting)
- GP12 specifications
- YRC1000 specifications
Source: based on YASKAWA manuals HW1484719 (GP25 instructions rev 3, Japanese) and HW1485495 (GP25 instructions, drip-proof specification rev 1, Japanese). English terms follow HW1484720 (MOTOMAN-GP25 INSTRUCTIONS rev 2; one revision older than the Japanese rev 3) and HW1485496 (rev 1).