Robot Optimized for Arc Welding MOTOMAN-VA and MA …yaskawaindia.in/wp-content/uploads/2012/10/ARC-Welding-MA-VA... · ENVIRONMENTAL SYSTEM C E R T I F D M A N A G E ME N T S Y S

ENVIRONMENTALSYSTEM

C

ER T I F I ED

MA

NAGEMENT SYST

EM

JQA-EM0924JQA-0813

QUALITY SYSTEM

C

ER T I F I ED

MA

NAGEMENT SYST

EM

R009QMS Accreditation

Robot Optimized for Arc Welding

MOTOMAN-VA and MASeries

Certified for ISO9001 andISO14001

Robots optimized for arc welding can also be used for handling and other applications.

Hardware

Software

Cube interference zone Cube interference zone

Structures, performance, and functions designed for optimum application help you downsize production facilities and save energy.Save Space

Energy

Interference Checking Function3

The slim design of the controller (425 mm wide) requires 23%

2 less installation space, so controllers can easily be mounted side by side. By adding a Box, you can control 8 robots with 72 total axes.

The functional safety unit, which is configured with the redundant CPUs, minimizes the area within the safety barrier by restricting the robot’s operating area.

Reduced power consumption helps lower running costs.

MOTOMAN- (World’s first 7-axis robot)VA1400 DX100

Minimized Safety Barrier4 Saving Energy

Easily avoidinterference.

Use 50% less spacewith high density layout.

With the robot on a shelf or on the top of the positioner, welding can start from the top of the workpiece, and the installation space can be halved. If the robots are in close proximity, the arms can be easily posed to avoid interference, and several robots can be placed in a small space.

Increased operability andmaintainability with built-in cables.

Not only are the torch cables inside the U-arm, but the welding earth cable as well as the gas and air hoses are inside the base. This reduces the space in which the cables can move and stretches the cable’s life.

The servos are turned OFF automatically when the Robot is stopped for a long period of time.

Constantly checks the interference between the robot arm and up to 16 defined cubes to prevent the robot to collide with workpieces or peripheral jigs. (See the following figure.)

Interference between the arms of densely installed Robots can be constantly monitored to automatically stop movement if a collision is likely to occur. (This prevents collisions between robots caused by programming mistakes.)

Compared to conventional, small controllers

Robot operation control

Operating status

Motor outputs

Brake

Timer

On standby until next command

Motor outputs are shut off and brakes applied while the Robot is on standby.

Brakes are applied at a fixed time intervals after the standby status starts.

〈Conditions〉 Twenty-four-hour operation in which the Robot isoperating for 16 hours and on standby for 8 hours

Optional Optional

Example : Mounted on single axis positioner

Maintain the optimum welding posture for a workpiece in a jig as positioner coordinates with the robot.

7th axis (E-axis)

13 MOTOMAN-VA1400

4 Single axis positioner1

2 Avoidsinterference

With the 7th axis (E-axis), the arm can easily avoid interference with workpieces and jigs as well as keep the optimal torch posture by going around to the back of the workpiece. Large workpieces can be handled, and welding can be done inside the workpiece.

Safety Barrier

1 :

2 :

Previoussafety barrier

Minimized safety barrier

Energy savings :

Approx.25%

Installation space for thecontroller is reduced

by 23%.

3 : Contact the Yaskawa sales department about manipulator models that support this function.

4 : Contact the Yaskawa sales department about

manipulator models that support this function.

Total Solutions to Achieve Short Processing

Yaskawa, a leader in arc welding,provides revolutionary “short processing.”

2

Faster and higher quality arc welding with wide variety of functions reduces wasted motion and cycle times.High Productivity

Quality

Operability of teaching and simulation have been improved to reduce time required for system startup.Easy Operation

Simulation

The Simulator has evolved from merely simulating Robot operation to a Virtual Controller that reproduces the functions, operations, and displays of the actual Robot. Easy simulation is possible by anyone with an understanding of Robot operation.

Programming Pendant MotoSimEG-VRC Simulator Optional

Settings for Welding ConditionsQuicker Welding

The welding time per bead can be reduced by starting the next motion while checking to make sure no wire sticking occurred at the end of the arc welding process.

Sequence at End of Arc Welding

Improve welding quality by defining the preflow and postflow of the gas as well as the slope (transition) when setting the conditions for the start and the end of arc welding.

Slope SettingsAttain high-precision welding by setting the distance or time as a condition for the slope.

Torch Angle DisplayShift Function in Coordinate System

Simplify teaching by using numerical values to adjust or shift the target position and attain high-quality welding.

Example

Teaching operation becomes easier by viewing the torch angle on the programming pendant.

Torch Angle

Optional Optional

Multi-window DisplayImprove efficiency by checking the programmed motion with the I/O data and variables displayed during teaching or trial operations. When an alarm occurs, the type of error, its cause, and a suggested remedy are displayed.

Arc Monitoring (Optional) Easily check the welding results with a graphic display of the welding current and voltage.

MOVLManipulator motion



ARCOF

Check wire sticking and then start movement.


ARCOF

Start moving while checking for wire sticking.

Conventional processing

Improved processing (Less wire sticking)

Reduced time

The gas preflow can be set as the arc start conditions so the gas can be filled up to the tip of the wire before starting arc welding.

The gas postflow can be set as the arc end conditions so the gas can be filled up at the end of welding to prevent the tip of the wire from being oxidized.

Preflow Gas Settings Postflow Gas Settings

Teach the joint center, and then the welding motion starts on the position shifted for the set value from the taught position. (The target position can be controlled by the numerical value.)

Deviations from the welding path in a spcified zone can be corrected all together. (Expanded function of the conventional parallel job shift)

Z

Y

1.5mm

3.0m

m

Example : Y=−1.5mm, Z=3.0mm

AfterBefore Z

Tz

TyY

Tx

XVew A

Vew B

Lead angle Target angleVew A Vew BZ Z

YX

Pitch

1

2

Target angle

Lead angle

Pitch

:

:

:

The slant angle of the torch in relation to the Z-axis, as shown in View B.( The angle is larger as the torch moves away from the Z-axis.)The slant angle of the torch in relation to the Z-axis, as shown in View A. (The positive (+) side is the side of the torch head that faces the direction in which welding will progress.)The slant angle from the horizontal surface (the base coordinates) of the welding path. The slant angle of the tangential line at the present location when on a circular trajectory. (The positive (+) side is the side of the torch head that faces downwards.)

Increased freedom in operation or compact and slim design have made the new robots more optimized for specific applications. High-density installation has contributed customers production line to saving space. The facility which enables integrated process, rapid production and saving space is called “short processing”.

Short processing

・Slimmer design enables closer mounting.

・Seven axes design provides more flexibility.

・Smaller Controller saves space.

・Multiple Robot Controller prevents robots from collisions.

・Installation space reduced by safety function (restricting the range of Robot operation).

・Shorter production lines.

・Reduced number of processes.

・Highly efficient production.

・Better quality.

・Saving energy.

Customeradvantages

Shortprocessing

New robotsolutions

3

Manipulator SpecificationsMOTOMAN-VA1400YR-VA01400-A00

7 (Vertically articulated)

3 kg±0.08 mm

−170˚ − +170˚−70˚ − +148˚−90˚ − +90˚−175˚ − +150˚−150˚ − +150˚−45˚ − +180˚−200˚ − +200˚

3.84 rad/s, 220˚/s3.49 rad/s, 200˚/s3.84 rad/s, 220˚/s3.84 rad/s, 220˚/s7.16 rad/s, 410˚/s7.16 rad/s, 410˚/s

10.65 rad/s, 610˚/s

View A

View B

View C

Connector for internal userI/O wiring harness: JL05-2A20-29PC (with cap)Matching connector:JL05-6A20-29S (provided by users)

Air inlet PT3/8with pipe plug (A)

Air inlet PT3/8with pipe plug (B)

welding power source’s terminal block

1BC

2BC

3BC

90 d

ia.

30˚5

42 d

ia.

6P.C.D.56

60

132±0.1

153±0.1102±0.1

300

292

260

100±0.1

130±

0.1

132±

0.1

102±

0.1260

300

153

240

60

:(within 42 dia. )

Tapped holes M4 (6 holes)(Depth: 10) (Pitch: 0.7)

6 dia. (1 hole) (Depth: 6)

Available range forattachment, etc.

200

2475

1734

745

288

0

325

741

80˚

1081 144 0

458

1434

122

78

30

175˚

148˚

70˚150˚

150

U

L

S

100 dia.

170˚

170˚

75 70

42 dia.

36

84

P-Point

R270

R458

R1434


A

B

C

640

B

T

155199

199

110

200

614

450

E

R

Range ofMotion

MaximumSpeed

ModelTypeControlled AxisPayloadRepeatability1

-axis (turning)

-axis (lower arm)

-axis (elbow)

-axis (upper arm)

-axis (wrist roll)

-axis (wrist pitch/yaw)

-axis (wrist twist)

-axis (turning)

-axis (lower arm)

-axis (elbow)

-axis (upper arm)

-axis (wrist roll)


-axis (wrist twist)

SLEURBTSLEU RBT

Allowable Moment

Allowable Inertia(GD2/4)

Mass

AmbientConditions

8.8 N·m 8.8 N·m 2.9 N·m

0.27 kg·m2

0.27 kg·m2

0.03 kg·m2

150 kg0 C to +45 C

20 to 80%RH (non-condensing)

4.9 m/s2 or less

1.5 kVA

Free from corrosive gasses or liquids, or explosive gassesFree from exposure to water, oil, or dustFree from excessive electrical noise (plasma)

12

::Conforms to JIS B 8432.Varies in accordance with applications and motion patterns.

TemperatureHumidityVibration

Others

Power Requirements2

Note : SI units are used for specifications.

-axis (wrist roll)


-axis (wrist twist)

-axis (wrist roll)


-axis (wrist twist)

RBTRBT

18 dia. (4 holes)

+0.025 0

+0.012 0

16 dia. (2 holes)+0.018 0

12 dia. (1 hole)

+0.018 0

+ 0.0

25 0

9480

174 42

dia

.

MOTOMAN-VA14003 kg payload, R1434 mm maximum reach

New 7-axis configuration enables welding quality to be increased by maintaining the optimum welding posture at all times. Save space by having the cables in the arm and base part to reduce interference with the jigs and workpieces and to enable high-density layouts.Increase productivity with fastest motion in its class and wider motion range.

World’s First 7-axis Robot Optimized for Arc Welding

Dimensions Units : mm : P-point Maximum Envelope

4



Manipulator SpecificationsMOTOMAN-MA1400YR-MA01400-A00


3 kg±0.08 mm

−170˚ − +170˚−90˚ − +155˚−175˚ − +190˚−150˚ − +150˚−45˚ − +180˚−200˚ − +200˚

3.84 rad/s, 220˚/s3.49 rad/s, 200˚/s3.84 rad/s, 220˚/s7.16 rad/s, 410˚/s7.16 rad/s, 410˚/s

10.65 rad/s, 610˚/s

View A

View B

View C

Connector for internal userI/O wiring harness:JL05-2A20-29PC (with cap)Matching connector:JL05-6A20-29S (provided by users)

Air inlet PT3/8with pipe plug (A)

Air inlet PT3/8with pipe plug (B)

welding power source’s terminal block

1BC

2BC

3BC

90 d

ia.

30˚5

6P.C.D.56

42 d

ia.

60

132±0.1

153±0.1102±0.1

300

292

260

100±0.1

130±

0.1

132±

0.1

102±

0.1260

300

153

240

60


200

2511

1734

726

294

0

361

777

83˚

1134

1059 210 0

426

1434

110

122

78

30

175˚

155˚

90˚

190˚

640150

200

614

450

B

T

R

U

L

S

100 dia.

155199

199

170˚

170˚

75 70

36

84

P-Point

R270

R426

R1434


A

B

C

Allowable Moment


Mass

AmbientConditions

8.8 N·m 8.8 N·m 2.9 N·m

0.27 kg·m2

0.27 kg·m2

0.03 kg·m2

130 kg0 C to +45 C


4.9 m/s2 or less

1.5 kVA




Others

Power Requirements2


-axis (wrist roll)


-axis (wrist twist)

-axis (wrist roll)


-axis (wrist twist)

RBTRBT

Range ofMotion

MaximumSpeed


-axis (turning)

-axis (lower arm)

-axis (upper arm)

-axis (wrist roll)


-axis (wrist twist)

-axis (turning)

-axis (lower arm)

-axis (upper arm)

-axis (wrist roll)


-axis (wrist twist)

SLURBTSLU RBT

18 dia. (4 holes)

42 d

ia.+ 0

.025

0

+0.012 0

:(within 42 dia. )+0.025

0

16 dia. (2 holes)+0.018 0

12 dia. (1 hole)

+0.018 0

12

9480

17442 dia.

MOTOMAN-MA14003 kg payload, R1434 mm maximum reach

Save space by having the cables in the arm and base part to reduce interference with the jigs and workpieces and to enable high-density layouts.Reduce welding cycle times with the world’s fastest motion.Best when multiple or long-distance movements are required.

Improved Arc Welding for Greater Production Efficiency


5

View A

View B

View C

45 d

ia.

Air inlet PT3/8with pipe plug

Connector for internal userI/O wiring harness:JL05-2A20-29PC (with cap) Matching connector:JL05-6A20-29S (provided by users)



15 kg±0.08 mm

−180˚ − +180˚−100˚ − +155˚−175˚ − +210˚−175˚ − +175˚−45˚ − +180˚−200˚ − +200˚

3.40 rad/s, 195˚/s3.05 rad/s, 175˚/s3.32 rad/s, 190˚/s6.63 rad/s, 380˚/s5.93 rad/s, 340˚/s9.77 rad/s, 560˚/s

335380

120

50

130±0.1 130±0.1

335

380

1205019

5±0.

1344

5575

R306

40 15

180˚

180˚

206

112

946

2

P.C.D.56

30˚

3BC

1BC

2BC

AIR

300

285 210

100

dia.

195±0.1

170±

0.1

P-Point

T

BU

L

150 870 45

555

760

1535 100˚

155˚81

˚

1807376

1242

1507 0

509

202

429

1031

0

471

322

914

2212

3243

175˚

110

210˚

S

30˚

185

220

C

B

A



R

Allowable Moment


Mass

AmbientConditions

38.6 Nm38.6 Nm7.35 Nm1.04 kgm2

1.04 kgm2

0.04 kgm2

380 kg0 C to +45 C


4.9 m/s2 or less

2.5 kVA

12



Others

Power Requirements2


-axis (wrist roll)


-axis (wrist twist)

-axis (wrist roll)


-axis (wrist twist)

RBTRBT

Range ofMotion

MaximumSpeed


-axis (turning)

-axis (lower arm)

-axis (upper arm)

-axis (wrist roll)


-axis (wrist twist)

-axis (turning)

-axis (lower arm)

-axis (upper arm)

-axis (wrist roll)


-axis (wrist twist)

SLURBTSLU RBT


18 dia.(4 holes)

45 d

ia.+ 0

.025

0

12 dia. (2 holes)

+0.018 0

+0.012 0

:(within 45 dia. )+0.025

0

45 dia.

R1807


MOTOMAN-MA1800

High Payload Capacity for Increased Production Efficiency

Increase productivity with high payload of 15 kg and a maximum reach of 1807 mm.Mount various kinds of torches such as a water-cooled torch for large current and continuous arc welding or a servo torch with a high-precision feeder and mechanical section.

15 kg payload, R1807 mm maximum reach


6



3 kg±0.08 mm

−180˚ − +180˚−110˚ − +155˚−165˚ − +220˚−150˚ − +150˚−45˚ − +180˚−200˚ − +200˚

3.44 rad/s, 197˚/s3.05 rad/s, 175˚/s3.23 rad/s, 185˚/s7.16 rad/s, 410˚/s7.16 rad/s, 410˚/s

10.65 rad/s, 610˚/s

1BC

3BC

2BC

A

C

B

155

260 157

375

60313

335

200±

0.1

260±0.1

6033

537

5

200±0.1

170±

0.1

3437

Air inlet PT3/8with pipe plug

Connector for internal userI/O wiring harness: JL05-2A20-29PC (with cap)Matching connector:JL05-6A20-29S (provided by users)

View A


90 d

ia.

5

6

42 d

ia. P.C.D.56

30˚

R1904

180˚

R554

75 55

180˚

1540


1604 1166 409

970 30

0

150

554

200

1904

U

B

T

P-Point

81˚

L

110˚ 155˚

220

760

1485

220˚ S

505

165˚

View C

View B

2259

0

647

1178

R

Range ofMotion

MaximumSpeed


-axis (turning)

-axis (lower arm)

-axis (upper arm)

-axis (wrist roll)


-axis (wrist twist)

-axis (turning)

-axis (lower arm)

-axis (upper arm)

-axis (wrist roll)


-axis (wrist twist)

SLURBTSLU RBT

Allowable Moment


Mass

AmbientConditions

8.8 N·m 8.8 N·m 2.9 N·m

0.27 kg·m2

0.27 kg·m2

0.03 kg·m2

280 kg0 C to +45 C


4.9 m/s2 or less

2.0 kVA

12



Others

Power Requirements2


-axis (wrist roll)


-axis (wrist twist)

-axis (wrist roll)


-axis (wrist twist)

RBTRBT

18 dia.(4 holes)

12 dia. (2 holes)

+0.018 0



42 d

ia.+ 0

.025

0

+0.012 0

:(within 42 dia. )+0.025

0

9480

17442 dia.


MOTOMAN-MA1900

Long Arm for High Production Efficiency

Expand application scope with a maximum reach of 1904 mm.Increase productivity with 20% faster motion (compared with conventional robots).Less interference with cables in arm for easy welding inside circles, boxes and cases as well as continuous or circumferential welding of long workpieces.

3 kg payload, R1904 mm maximum reach


7

MOTOMAN-VA and MA Series

SpecificationsDust proof425(W)×450(D)×1200(H) mm Small Robots1 : Possible to control three external axesLarge Robots2 : Possible to control two external axes

100 kg max. Indirect coolingDuring operation : 0 C to +45 C During storage : −10 C to +60 C 90% max. (non-condensing)

Three-phase 200/220 VAC (+10% to −15%), 60 Hz (±2%)(Japan)

Three-phase 200 VAC (+10% to −15%), 50 Hz (±2%)(Japan)

Grounding resistance : 100 Ω or lessSpecialized signals : 23 inputs and 5 outputsGeneral signals : 40 inputs and 40 outputsMax. I/O (optional) : 2048 inputs and 2048 outputsBy serial encoderJOB : 200,000 steps, 10,000 instructionsCIO ladder : 20,000 stepsPCI : 2 slots for main CPUs and 1 slot for servo CPU1 additional slot for sensor board

1 (10BASE-T/100BASE-TX)

RS-232C : 1chSoftware servo controlStandard 6 axes and 2 additional single-axis amplifiers can be mounted (8 axes max.)

Munsell notation 5Y7/1 (reference value)

ItemsConfiguration

Dimensions

MassCooling SystemAmbient TemperatureRelative Humidity

Power Supply

Grounding

Digital l/Os

Positioning SystemProgramming CapacityExpansion SlotsLAN(Connection to Host)

InterfaceControl Method

Drive Units

Painting Color

DX100 Controller SpecificationsSpecifications

169(W)×314.5(H)×50(D) mm0.990 kgReinforced plasticsSelect keys, axis keys (8 axes), numerical /application keys, Mode switch with key (mode :

teach, play, and remote), emergency stop button, enable switch, compact flash card interface device (compact flash is optional.), USB port (1 port) 640×480 pixels color LCD, touch panel(Alphanumeric characters, Chinese characters, Japanese letters, Others)

IP65

Standard : 8 m, Max. : 36 m (optional)

ItemsDimensionsMassMaterial

Operation Device

Display

IEC Protection Class Cable Length

Programming Pendant Specifications

MOTOMAN-VA1400, MA1400 and MA1900For the VA1400, only two external axes can be controlled. MOTOMAN-MA1800

1

2

:

:

Documents

Robot Optimized for Arc Welding MOTOMAN-VA and MA …yaskawaindia.in/wp-content/uploads/2012/10/ARC-Welding-MA-VA... · ENVIRONMENTAL SYSTEM C E R T I F D M A N A G E ME N T S Y S