GP50 / GP35L specifications
The MOTOMAN-GP50 and MOTOMAN-GP35L are 6-axis, vertically articulated manipulators used with the YRC1000. They share one set of instructions and one maintenance manual. The GP35L is the long-arm version of the GP50; its payload drops to 35 kg. The range of motion and the protective enclosure are the same.
| Model | Type |
|---|---|
| GP50 | YR-1-06VX50-A00 (standard), YR-1-06VX50-D00 |
| GP35L | YR-1-06VXL35-A00 (standard) |
The -D00 uses a different grease for the speed reducers and gears (see inspection and grease exchange). Its specification values are the same as the -A00.
Basic specifications
| Item | GP50 | GP35L |
|---|---|---|
| Structure | Vertically articulated | Same |
| Degree of freedom | 6 | 6 |
| Payload (wrist part) | 50 kg | 35 kg |
| Payload (U-arm) | 10 kg | 10 kg |
| Repeatability | 0.03 mm | 0.07 mm |
| Approx. mass | 570 kg | 600 kg |
| Protective enclosure | Body: IP54, wrist part: IP67 | Same |
| Mounting method | Floor-, ceiling-, wall-, tilt-mounted | Same |
| Power requirement | 4.5 kVA | 4.5 kVA |
| Applicable controller | YRC1000 (ERAR-1000-06VX280-□) | Same |
| Equivalent continuous A-weighted sound pressure level | 72 dB or less | 72 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.
- When wall- or tilt-mounted, the S-axis motion range is limited.
- 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
The range of motion is the same for the GP50 and the GP35L. Only the L-axis maximum speed differs.
| Axis | Range of motion | Maximum speed (GP50) | Maximum speed (GP35L) |
|---|---|---|---|
| S-axis (turning) | −180° to +180° | 3.14 rad/s (180°/s) | 3.14 rad/s (180°/s) |
| L-axis (lower arm) | −90° to +135° | 3.11 rad/s (178°/s) | 2.44 rad/s (140°/s) |
| U-axis (upper arm) | −80° to +206° | 3.11 rad/s (178°/s) | 3.11 rad/s (178°/s) |
| R-axis (wrist roll) | −360° to +360° | 4.36 rad/s (250°/s) | 4.36 rad/s (250°/s) |
| B-axis (wrist pitch/yaw) | −125° to +125° | 4.36 rad/s (250°/s) | 4.36 rad/s (250°/s) |
| T-axis (wrist twist) | −360° to +360° | 6.28 rad/s (360°/s) | 6.28 rad/s (360°/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 (GP50) | Allowable moment (GP35L) | Allowable inertia (GP50) | Allowable inertia (GP35L) |
|---|---|---|---|---|
| R-axis | 216 N·m (22 kgf·m) | 147 N·m (15 kgf·m) | 28 kg·m² | 10 kg·m² |
| B-axis | 216 N·m (22 kgf·m) | 147 N·m (15 kgf·m) | 28 kg·m² | 10 kg·m² |
| T-axis | 147 N·m (15 kgf·m) | 78 N·m (8 kgf·m) | 11 kg·m² | 4 kg·m² |
The allowable inertia is given as GD²/4. 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
The drip-proof specification (-C00), the food grade grease specification (GP50 -F00) and the optional zeroing function each have their own manual. The differences are summarised in GP50 / GP35L drip-proof and food grade grease specifications and zeroing function.
Related articles
- GP50 / GP35L inspection, grease exchange and battery replacement
- GP50 / GP35L drip-proof and food grade grease specifications and zeroing function
- YRC1000 specifications
Source: based on YASKAWA manuals HW1484658 (GP50/GP35L instructions rev 6, Japanese) and HW2481410 (GP50 instructions -D00 rev 1, Japanese only). English terms follow HW1484659 (MOTOMAN-GP50,GP35L INSTRUCTIONS rev 6).