GP7 and GP8 specifications
The MOTOMAN-GP8 (AR700) and MOTOMAN-GP7 (AR900) are small 6-axis vertically articulated manipulators covered by one instructions manual and one maintenance manual. The payload is 8 kg for the GP8 and 7 kg for the GP7. The GP7 has longer arms, so its basic axes have lower maximum speeds. The wrist specifications are the same. Besides the YRC1000, they can be used with the compact YRC1000micro.
| Type | Description |
|---|---|
| YR-1-06VX8-A00 / YR-1-06VX7-A00 | Standard specification |
| YR-1-06VX8-B00 / YR-1-06VX7-B00 | Anti-corrosion specification |
| YR-1-06VX8-F00 / YR-1-06VX7-F00 | Food grade grease specification (see the inspection page) |
Basic specifications
| Item | GP8 / AR700 | GP7 / AR900 |
|---|---|---|
| Structure | Vertically articulated | Vertically articulated |
| Degree of freedom | 6 | 6 |
| Payload (wrist part) | 8 kg | 7 kg |
| Payload (U-arm) | 1 kg | 1 kg |
| Repeatability | 0.01 mm | 0.01 mm |
| Approx. mass | 35 kg | 37 kg |
| Protective enclosure | IP67 | IP67 |
| Mounting method | Floor-, ceiling-, wall-, tilt-mounted | Same |
| Power capacity | 1 kVA | 1 kVA |
| Applicable controller | YRC1000 (ERAR-1000-06VX8-) / YRC1000micro (ERBR-100-06VX8-) | Same |
| Noise | 75 dB or less | 75 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 last digit (*) of the controller type differs depending on the specification.
Range of motion and maximum speed
The range of motion is the same for the GP8 and GP7.
| Axis | Range of motion | Maximum speed GP8 | Maximum speed GP7 |
|---|---|---|---|
| S-axis (turning) | −170° to +170° (on the wall: −30° to +30°) | 7.94 rad/s (455°/s) | 6.54 rad/s (375°/s) |
| L-axis (lower arm) | −65° to +145° | 6.72 rad/s (385°/s) | 5.50 rad/s (315°/s) |
| U-axis (upper arm) | −70° to +190° | 9.07 rad/s (520°/s) | 7.15 rad/s (410°/s) |
| R-axis (wrist roll) | −190° to +190° | 9.59 rad/s (550°/s) | 9.59 rad/s (550°/s) |
| B-axis (wrist pitch/yaw) | −135° to +135° | 9.59 rad/s (550°/s) | 9.59 rad/s (550°/s) |
| T-axis (wrist twist) | −360° to +360° | 17.45 rad/s (1000°/s) | 17.45 rad/s (1000°/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
Same for the GP8 and GP7.
| Axis | Allowable moment | Allowable inertia (GD²/4) |
|---|---|---|
| R-axis | 17 N·m (1.73 kgf·m) | 0.5 kg·m² |
| B-axis | 17 N·m (1.73 kgf·m) | 0.5 kg·m² |
| T-axis | 10 N·m (1.02 kgf·m) | 0.2 kg·m² |
Stopping distance and time for stop category 0
Reference values measured with the maximum load, at the maximum speed, in the posture that generates the maximum inertia. Actual stopping distances depend on the conditions.
| Axis | GP8 stopping distance | GP8 stopping time | GP7 stopping distance | GP7 stopping time |
|---|---|---|---|---|
| S-axis | 35.5° | 0.247 s | 32.7° | 0.247 s |
| L-axis | 30.0° | 0.347 s | 27.3° | 0.280 s |
| U-axis | (not listed) | 0.364 s | 42.8° | 0.298 s |
The U-axis stopping distance of the GP8 is not listed because the Japanese and English instructions give different values. The lifting mass for transport is not listed for the same reason. Ask YASKAWA if you need these values.
Related articles
- GP7 and GP8 inspection, grease replenishment and battery replacement
- GP12 specifications
- YRC1000 specifications
Source: based on YASKAWA manuals HW1483943 (GP8/AR700, GP7/AR900 instructions rev 12, Japanese) and HW1484384 (GP8, GP7 supplemental instructions, food grade grease, rev 1, Japanese). English terms follow HW1483944 (MOTOMAN-GP8/AR700, -GP7/AR900 INSTRUCTIONS rev 5; older than the Japanese rev 12) and HW1484385 (MOTOMAN-GP8,-GP7 SUPPLEMENTAL INSTRUCTIONS rev 1).