YRC1000 ALARM CODES

MotoMini
Compact,LightweightDesign

KeyBenefits
Smallestandlightestsix-axisrobot
intheindustry
7-kgweightrobotiseasytocarry,
shipandinstall
Accelerationtimesare20%fasterover
comparablesmallrobots
Singlerobot-to-controllercableconnection
enablesfastsetup

Specifications
0.5kgpayload
350mmhorizontalreach
495mmverticalreach
±0.02mmrepeatability

Applications
Assembly
Dispensing
Inspection
Kitting
MachineTending
MaterialHandling
Packaging
PartsFeeding
Sorting
STEMEducation

Controller
YRC1000micro

• Extremelylightweight,six-axis

industrialrobotoffersthehighest
accelerationinasmall-sizedrobot.
• 7-kgweightrobotiseasytocarry

andidealfortabletop-,loor-,ceiling-,
tilt-orwall-mountinstallations,
savingvaluablefloorspace.
• Accelerationtimesare20%faster

overcomparablesmallrobotsto
reducecycletimeandincrease
productionoutput.
• 0.5kgpayloadsupportsaunique

varietyoftoolingandsensorsto
fulfilldiverseprojectneeds.
• Compactfootprint(191mmx124mm)

allowsrobottobemountedclose
toworkpiecesandothermachinery
inexistinglinesorcells.
• Cablesandairlinesarerouted

• Lessthan65dB(withmaximum

loadandspeed)offersextremely
quietoperation.
• Singlepowerandcontrolcable

reduceswiringtimeandincreases
workefficiency.
• Newrobotharnessdesignfor

improveddiagnosticsand
maintenance.
• Homepositiondatacanbesaved

withoutbatteryconnectionforeasy
maintenance.
• Powerfulandpreciseultra-compact

YRC1000microcontrollerminimizes
installationspaceandoptimizes
performance.
• TheMotoMiniisavailablewitheither

thestandardteachpendantorthe
SmartPendant.

throughrobotbasetoupperarmto
increasecablelife,enhancesafety
andreduceteachingtime.

2017NikkeiSuperiorProductsandServicesAward

MotoMiniRobot

VIEW A

2
0.5
309

9
20
45°

350
4X M3X0.5 x4
20

75

40

165

59

D
61

P-POINT
MAXIMUM ENVELOPE

P-POINT

433

103
68

B

101

Ø15.5

VIEW B

A

165

2X Ø3 x3

INTERNAL USER AIR LINES
M5 PIPE TAP CONNECTION
(WITH PLUG)

INTERNAL USER WIRING
CONNECTOR (BASE SIDE)
TYPE IS DE-9PF-N (WITH CAP)
MATING CONNECTOR

IS NOT SUPPLIED BUT
COMPLETE CABLES
ARE AVAILABLE AS
AN OPTION

62

VIEW C

C

191
170°

4X Ø5.5 THRU

R350

35
20

87.5
35

10.5
25.5
3
101

6

112

56
10
20

10

6
Ø3 THRU

VIEW D
R133

170°

INTERNAL USER WIRING CONNECTOR (BASE SIDE)
TYPE IS DE-9PF-N (WITH CAP) MATING CONNECTOR
IS NOT SUPPLIED BUT COMPLETE CABLES
ARE AVAILABLE AS AN OPTION

INTERNAL USER AIR LINES
M5 PIPE TAP CONNECTION
(WITH PLUG)

All dimensions are metric (mm) and for reference only.
Request detailed drawings for all design/engineering requirements.

SPECIFICATIONS
Axes

Maximum
motion range [°]

Maximum speed
[°/sec.]

Allowable
moment [N•m]

Allowable
moment of inertia
[kg•m2]

Item
Controlled axes

MotoMini
6

S

±170

315

–

–

Maximum payload [kg]

L

+90/-85

315

–

–

Repeatability [mm]
Horizontal reach [mm]

350
495

U

+120/-175

420

–

–

R

±140

600

0.42

0.00378

Vertical reach [mm]

0.00378

Weight [kg]

0.00299

Internal user I/O cable

B

+210/-30

T

±360

600
600

0.42

0.37

Mounting Options: Floor, Wall, Tilt, Ceiling

ContactYaskawaMotomanforoptions
availablewiththeMotoMini

AXES LEGEND
S-Axis: Swivel Base
L-Axis: Lower Arm
U-Axis: Upper Arm
R-Axis: Arm Roll
B-Axis: Wrist Bend
T-Axis: Tool Flange

Yaskawa America, Inc. | Motoman Robotics Division
100 Automation Way
Miamisburg, OH 45342
Tel: 937.847.6200 | motoman.com
Motoman is a registered trademark. All other marks are the trademarks and registered trademarks of Yaskawa America, Inc.
Technical specifications subject to change without notice. DS-763-C ©2018 Yaskawa America, Inc. OCTOBER 2018

±0.02

7
24 conductors w/ ground

Internal user air line

2 x M5 connection

Power requirements

1- or 3-phase; 200/230 VAC

Power rating [kVA]

Options

0.5

0.5