SP210 / GP225 specifications
The MOTOMAN-GP225 and MOTOMAN-SP210 are 6-axis, vertically articulated manipulators used with the YRC1000. Both have the type number YR-1-06VX225 (standard specification -A00 and -D00) and share the same mechanism. The main difference is the flange for cabling on the edge of the wrist. With the YASKAWA standard external cable (for example the SP210 for spot welding), this flange is mounted, and the payload and the R- and T-axis range of motion become slightly smaller.
Basic specifications
| Item | Flange for cabling: not-equipped (e.g. GP225) | Flange for cabling: equipped (e.g. SP210) |
|---|---|---|
| Structure | Vertically articulated | Same |
| Degree of freedom | 6 | 6 |
| Payload (wrist part) | 225 kg | 210 kg |
| Payload (U-arm) | 30 kg | 30 kg |
| Repeatability | 0.05 mm | 0.05 mm |
| Approx. mass | 1080 kg | 1080 kg |
| Protective enclosure | Body: IP54, wrist part: IP67 | Same |
| Mounting method | Floor-mounted | Floor-mounted |
| Power requirement | 5.0 kVA | 5.0 kVA |
| Applicable controller | YRC1000 (ERAR-1000-06VX280-□) | Same |
| Equivalent continuous A-weighted sound pressure level | 72 dB or less | 72 dB or less |
- 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 (not-equipped) | Range of motion (equipped) | Maximum speed |
|---|---|---|---|
| S-axis (turning) | −180° to +180° | Same | 2.09 rad/s (120°/s) |
| L-axis (lower arm) | −60° to +76° | Same | 1.69 rad/s (97°/s) |
| U-axis (upper arm) | −86° to +90° | Same | 2.01 rad/s (115°/s) |
| R-axis (wrist roll) | −360° to +360° | −210° to +210° | 2.53 rad/s (145°/s) |
| B-axis (wrist pitch/yaw) | −125° to +125° | Same | 2.53 rad/s (145°/s) |
| T-axis (wrist twist) | −360° to +360° | −210° to +210° | 3.84 rad/s (220°/s) |
The maximum speed is the upper limit. The real speed drops depending on the load, the posture and the range of motion. The P-point maximum envelope reaches 2702 mm.
Allowable moment and allowable inertia of the wrist
| Axis | Allowable moment (not-equipped) | Allowable moment (equipped) | Allowable inertia (not-equipped) | Allowable inertia (equipped) |
|---|---|---|---|---|
| R-axis | 1372 N·m (140 kgf·m) | 1323 N·m (135 kgf·m) | 145 kg·m² | 143 kg·m² |
| B-axis | 1372 N·m (140 kgf·m) | 1323 N·m (135 kgf·m) | 145 kg·m² | 143 kg·m² |
| T-axis | 735 N·m (75 kgf·m) | 735 N·m (75 kgf·m) | 84 kg·m² | 84 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.
Sister models in the same manuals
The same instructions and maintenance manual also cover sister models with a smaller payload.
| Type | GP series (payload) | SP series (payload) |
|---|---|---|
| YR-1-06VX225 | GP225 (225 kg) | SP210 (210 kg) |
| YR-1-06VX180 | GP180 (180 kg) | SP165 (165 kg) |
| YR-1-06VX180-120 | GP180-120 (120 kg) | SP165-105 (105 kg) |
The GP225 is also available in a drip-proof specification (YR-1-06VX225-C00), which has its own supplemental instructions.
Related articles
- SP210 / GP225 inspection, grease exchange and battery replacement
- GP225 drip proof specifications (-C00): differences from the standard type
- SP210 / GP225 zeroing function
- YRC1000 specifications
Source: based on YASKAWA manuals HW1484441 (SP210 instructions, Japanese), HW2481263 (SP210 instructions -D00, Japanese), HW1484397 (GP225 instructions, Japanese) and HW2481261 (GP225 instructions -D00, Japanese). English terms follow HW1484442 (MOTOMAN-SP210 INSTRUCTIONS).