Robot Optimized for Painting MOTOMAN-EPX Seriesyaskawa.ir/_Download/Catalog/Yaskawa/Robotics/YAS-ROBOT-EPX.pdf · MOTOMAN-EPX2050 Medium painting robot, Lemma wrist View A View B

Certi�ed forISO9001 andISO14001

Robot Optimized for PaintingMOTOMAN-EPX Series

R009QMS Accreditation JQA-EM0924JQA-0813

Complete product lineup for better surface finish

MOTOMAN-EPX SeriesRobot Optimized for Painting

Manipulator lineup in accordance with workpiece size

EPX1250[ Orthogonal wrist ]

EPX2050[ Hollow slim arm ]

EPX2800[ Hollow slim arm ]

EPX2800R[ Hollow slim arm ]

EPX2900[ Hollow arm (Hollow process arm) ]

EPX2700[ Hollow arm ]

EPX2750[ Lemma wrist ]

EPX2050[ Lemma wrist ]

General industrial applications, Small workpiecesMobile telephones, reflectors,etc.

Automotive industry applications, Large workpiecesAutomobile bodies, bumpers, heavy machine, steel products, house material, etc.

S m a l l r o b o t M e d i u m r o b o t M e d i u m r o b o t L a r g e r o b o tL a r g e r o b o t

L a r g e r o b o t

Shelf-mounted type

Wall-mounted type

Rotation

Bending

Bending

Hollow wrist (H-type) Lemma wrist (L-type)

Based on the concept of having a broad range of motion with a compact design, Yaskawa’s MOTOMAN robots continue to evolve as optimized robot in functions and performance for each application. The rich lineup in the MOTOMAN-EPX series provides robots with a variety of features, including optimal wrist structures for each type of workpiece, arms with internally routed hoses, and a high-performance controller. The best robot for the application can be chosen to ensure high-quality painting.

Hoses and cables can be contained inside the wrist. No interference with workpieces can shorten tact time.

Without any singular point in front, the EPX robots with lemma wrists are ideal for painting horizontal and vertical planes as well as painting items in synchronization with the conveyor.

Wrist Structures

Automotive industry applications, Large workpiecesAutomobile bodies, bumpers, heavy machine, steel products, house material, etc.

Explosion proof certification: Conforms to TIIS, FM, and ATEX.

2

3

Dimensions Units : mm : P-point Maximum Envelope

Floor-mounted

Manipulator Speci� cations

Allowable Moment*2

R -axis (wrist roll) 8.0 N·m (0.82 kgf·m)

B -axis (wrist pitch/yaw) 8.0 N·m (0.82 kgf·m)

T -axis (wrist twist) 3.0 N·m (0.3 kgf·m)

Allowable Inertia(GD2/4)

R -axis (wrist roll) 0.20 kg·m2

B -axis (wrist pitch/yaw) 0.20 kg·m2

T -axis (wrist twist) 0.07 kg·m2

Mass 110 kg

Ambient Conditions

Temperature 0 to +40˚CHumidity 20 to 80%RH (non-condensing)

Vibration 4.9 m/s2 or lessOthers Free from excessive electrical noise (plasma)

Power Requirements*3 max. 1.5 kVAInstallation Floor, Wall, or Ceiling-mountedMax. Mass of Painting Devices on Robot 5 kg including parts mounted in the wristMax. Mass for Painting Devices on Robot Base 10 kg each for E and F sections (See View B)

Type of Explosion-proof Combination of pressurized (fia2G4) and

intrinsic safety (ia2G4).Explosion Proof Certifi cation TIIS, FM, ATEX

Ideal for Painting Small Parts!　The compact design enables a broad range of motion.　 Space-saving painting booth has been achieved by a compact controller

and various mounting methods for the manipulator.　 A compact bell gun can be mounted for high-quality painting.

Note: SI units are used for specifi cations.

*1 : Conforms to ISO 9283.*2 : Gravitational units are shown in parentheses.*3 : Varies in accordance with applications and motion patterns.

Model MOTOMAN-EPX1250Type YR-EPX1250-*0**Controlled Axis 6 (Vertically articulated)

Payload 5 kgRepeatability*1 ±0.15 mm

Range of Motion

S -axis (turning) −170˚ − +170˚ (−60˚ − +60˚ when mounted on the wall)L -axis (lower arm) −65˚ − +120˚U -axis (upper arm) −165˚ − +205˚R -axis (wrist roll) −190˚ − +190˚B -axis (wrist pitch/yaw) −145˚ − +145˚T -axis (wrist twist) −360˚ − +360˚

Max.Speed

S -axis (turning) 3.23 rad/s, 185˚/sL -axis (lower arm) 3.23 rad/s, 185˚/sU -axis (upper arm) 3.23 rad/s, 185˚/sR -axis (wrist roll) 6.28 rad/s, 360˚/sB -axis (wrist pitch/yaw) 7.16 rad/s, 410˚/sT -axis (wrist twist) 8.73 rad/s, 500˚/s

Wall-mounted

MOTOMAN-EPX1250Small painting robot, 5-kg payload

View A

View B

Orthogonal wrist

R51

0

R1256

170°

170°

128

300

215204

229.5 234

17108131

45°3.5

5

260

260

300

102±0.1102±0.1

139±

0.1

300

153±0.1

153±

0.1

260 9

530

9530

350

139±

0.1

310

520

130

8610

46

200 520 86.5

70°

65°

2063

486

1366

T

B

U

L 1852

R

140°

120°

S

310 520 130 861046

200

86.5

70°

65°

2063

486 1366

T

B

U

L

1852

R

140°

120°

S

520

R510

R1256

128

300

60° 60°

A

B

E :Tapped holes M6(2 holes) (Pitch: 1.0)

F :Tapped holes M6(2 holes) (Pitch: 1.0)

Model: YR-EPX1250-A000 (Rear feeder cable connection)

Model: YR-EPX1250-A002 (Bottom feeder cable connection)

20 d

ia. H

636

dia.

h6 Tapped holes M5

(4 holes) (Depth: 9 mm)(Pitch: 0.8)

5 dia. H7(1 hole) (Depth: 6 mm)

12 dia. H7 through holesfor reference (2 holes)

Scavenging port 12 dia.(air hose outside diameter)

18 dia.(4 holes)Exhaust port 12 dia.

(air hose outside diameter)

Model: YR-EPX1250-A000(Rear feeder cable connection)

Model: YR-EPX1250-A002 (Bottom feeder cable connection)

P-point

P-point

ϕ27.5

4



MOTOMAN-EPX2050Medium painting robot, Lemma wrist

View A

View B

10-kg payload

　 Teaching for painting synchronized with conveyor movement is easy, because the wrist has no singular points in the front area.　 With a MOTOFEEDER, painting workpieces on mesh and on spindles is possible.　Compact controller saves space.

Ideal for painting horizontal and vertical planes in synchronization with the conveyor.



Range of Motion

S -axis (turning) −90˚ − +90˚ (−27.5˚ − +27.5˚ when mounted on the wall)L -axis (lower arm) −50˚ − +100˚U -axis (upper arm) +5˚ − +163˚ *4R -axis (wrist roll) −260˚ − +260˚ *5B -axis (wrist pitch/yaw) −270˚ − +270˚T -axis (wrist twist) −260˚ − +260˚

Max.Speed

S -axis (turning) 123.5˚/sL -axis (lower arm) 120˚/sU -axis (upper arm) 123.5˚/sR -axis (wrist roll) 360˚/sB -axis (wrist pitch/yaw) 360˚/sT -axis (wrist twist) 360˚/s


L-ty

pe

Wris

t Allowable Moment*2








Mass 370 kg

Ambient Conditions



Power Requirements*3 max. 5.0 kVAInstallation Floor or Wall-mountedMax. Weight of Painting Devices on Arm 20 kg including parts mounted in the wrist


intrinsic safety (ia2G4).Explosion Proof Certifi cation TIIS, FM, ATEX*6

*5 : For the range of −145˚ to −20˚, and +215˚ to +260˚ : the B-axis motion range is limited to −195˚ to +15˚.*6 : Application being planned

*1 : Conforms to ISO 9283.*2 : Gravitational units are shown in parentheses.*3 : Varies in accordance with applications and motion patterns.*4 : For the range of +5˚ to +10˚ : the R-axis motion range is limited to −260˚ to −65˚, and +60˚ to +260˚.

A

B

* : When mounted on the wall

240240

647

1783

215

640215 215

215

480

0

0

1020

35°

600

850

245

300

P-point

850 93

575

925

486

2035

285

438

860

2031

2335

406432

2767

100°

5°

163°

620

3055

Tapped holes M6(8 holes) (Depth: 9 mm)

0.5

180°

P-point

R2035

16555°*

S

U

L

B

R

R586

R620

T

141.

5

14 d

ia. H

7

45 d

ia.

( Rot

atio

n ou

ter

dia

.)

70 d

ia.

18 dia.(4 holes)

ϕ32

50°

5



Hollow slim arm*

Hollow, slim arm!

View A

View B

MOTOMAN-EPX2050Medium painting robot, 15-kg payload

　 No interference with workpieces, because tubes for painting guns can be installed inside the hollow, slim arm.

　 Painting devices can be mounted on the arm to shorten color changing time and save paint and thinner.

*: Inner diameter 50 mm

*1 : Conforms to ISO 9283.*2 : Gravitational units are shown in parentheses.*3 : Varies in accordance with applications and motion patterns.Note: SI units are used for specifi cations.

H- t

ype

Wris









Mass 540 kg

Ambient Conditions

Temperature 0 to +40˚C (FM standard: 0 to +45˚C)Humidity 20 to 80%RH (non-condensing)


Power Requirements*3 max. 5.0 kVAInstallation Floor or Wall-mountedMax. Weight of Painting Devices on Arm 40 kg including parts mounted in the wrist


intrinsic safety (ia2G4).Explosion Proof Certifi cation TIIS，FM，ATEX



Range of Motion

S -axis (turning) −90˚ − +90˚L -axis (lower arm) −50˚ − +100˚U -axis (upper arm) +5˚ − +163˚R -axis (wrist roll) −360˚ − +360˚B -axis (wrist pitch/yaw) −360˚ − +360˚T -axis (wrist twist) −360˚ − +360˚

Max. Speed 2.0 m/s

270241

248.5

1864

240

647

240

90˚

90˚

R685

R2054

R59

0

215

215

480

215 215 51266

650

60˚60˚

5˚

20˚

85˚

73˚

9518

55

85˚

73˚

50˚

100˚

3128

2806

2354

2052

1691

913

406

342

0

438

452

1074

981

685

631

523

0

300

77.9

155850194.7

310

850

600

P-pointTB

R

U

L

S

2054

35˚

117

dia

.

B

A

7 (Within 116 dia. h7)

116

dia

. h7

Tapped holes M6(6 holes)(Depth: 11 mm) (Pitch: 1.0)

4 dia. H7(2 holes)(Depth: 7 mm)

18 dia. (4 holes)

ϕ 102

ϕ50

6



View B

MOTOMAN-EPX2750Medium painting robot, Lemma wrist

View A

10-kg payload

　 Teaching for painting synchronized with conveyor movement is easy, because the wrist has no singular points in the front area.　Compact controller saves space.

Ideal for painting horizontal and vertical planes in synchronization with the conveyor.




Range of Motion

S -axis (turning) −150˚ − +150˚L -axis (lower arm) −40˚ − +90˚U -axis (upper arm) +10˚ − +168˚R -axis (wrist roll) −260˚ − +260˚ *4B -axis (wrist pitch/yaw) −270˚ − +270˚T -axis (wrist twist) −260˚ − +260˚

Max.Speed

S -axis (turning) 124˚/sL -axis (lower arm) 127˚/sU -axis (upper arm) 112˚/sR -axis (wrist roll) 360˚/sB -axis (wrist pitch/yaw) 360˚/sT -axis (wrist twist) 360˚/s

L-ty

pe

Wris









Mass 560 kg

Ambient Conditions



Power Requirements*3 max. 5.0 kVAInstallation Floor-mountedMax. Weight of Painting Devices on Arm 30 kg including parts mounted in the wrist


intrinsic safety (ia2G4).Explosion Proof Certifi cation TIIS, FM, ATEX*5

*4 : For the range of −145˚ to −20˚, and +215˚ to +260˚ : the B-axis motion range is limited to −195˚ to +15˚.

*5 : Application being planned*1 : Conforms to ISO 9283.*2 : Gravitational units are shown in parentheses.*3 : Varies in accordance with applications and motion patterns.

729

A

B

P-point

P-point

290761290

2078

300°

R638 R27

29

R82

2

165

0

600

1100

141 .

5

168°

1269 60

4

285

2455

2772

3029

827

176.5

609

729

667

3758

770.

582

299

8

2729

3998

0

1298300 93

10°

40°40°40° 90°

108°

168°

75025

025

0

265265100

580

R

B

S

U

L

T

0.5

45 d

ia.

( Rot

atio

n ou

ter

dia

.)

70 d

ia.

14 d

ia. H

7 Tapped holes M6(8 holes) (Depth: 9 mm)

18 dia.(6 holes)

ϕ32

78°

80°

7



*1 : Conforms to ISO 9283.*2 : Gravitational units are shown in parentheses.*3 : Varies in accordance with applications and motion patterns.Note: SI units are used for specifi cations.

Model MOTOMAN-EPX2700

TypeYR-EPX2700-*000(Right offset)

YR-EPX2700-*100 (Left offset)

Controlled Axis 6 (Vertically articulated)


Range of Motion

S -axis (turning) −25˚ − +125˚ −125˚ − +25˚L -axis (lower arm) −65˚ − +140˚U -axis (upper arm) −65˚ − +90˚R -axis (wrist roll) −720˚ − +720˚B -axis (wrist pitch/yaw) −720˚ − +720˚T -axis (wrist twist) −720˚ − +720˚

Max. Speed


MOTOMAN-EPX2700Medium painting robot, 15-kg payload

View A

Top View

View B

H- t

ype

Wris









Mass 590 kg

Ambient Conditions



Power Requirements*3 max. 5.0 kVAInstallation Wall-mountedMax. Weight of Painting Devices on Arm 20 kg including parts mounted in the wrist


intrinsic safety (ia2G4).Explosion Proof Certifi cation TIIS，FM，ATEX

　 The painting booth can be smaller. More compact size lowers the initial cost and the running cost.

　 The long path motion of the robot can realize consistent painting quality, because the painting area does not need to be broken into several sections.

　 Right-offset and left-offset models are available. Symmetrical installation of two robots possible.　 Solenoid valves and electropneumatic regulators can

be mounted inside. Less time is required to change paint colors.

A wall-mounted robot for the ultimate in short processing!

Hollow arm*


2395 0

1300670

380

800

73 550

P-point

1950

0

1896

140˚ 10

˚

1142

1400

180

98.7

25˚

65˚

2700

0236

2447

589

836

222

472

310 7

82462

S

L

R

U

T

B

Note: These drawings are for the right-offset model. Contact your Yaskawa representative about drawings for the left-offset model.

22 dia.(8 holes)

B

12 dia. H7(Depth: 12 mm)

5.2 dia. H7(2 holes)(Depth: 10 mm)

Tapped holes M6(6 holes)(Depth: 12 mm)(Pitch: 1.0)

2700

5095

5147

21.5±0.1

51±0.0251±0.02

102

ϕ

140

dia

.11

6 di

a. h

7

70ϕ

R27

00

25˚

R300

310

125˚

36448.5

35

30

14

46.573

dia

.

A

95±0.1

403±

0.1

125

125

250

250

16016030

20

383

803

258

2-R6

12 ( Depth

: 12 m

m)+ 0

.018

0

8



EPX2800REPX2800


*1 : Conforms to ISO 9283.*2 : Gravitational units are shown in parentheses.*3 : Varies in accordance with applications and motion patterns.*4 : Including parts mounted in the wrist*5 : Pending

H- t

ype

Wris


R -axis (wrist roll) 77.4 N·m (7.9 kgf·m) 45.8 N·m (4.67 kgf·m)

B -axis (wrist pitch/yaw) 49.9 N·m (5.1 kgf·m) 33.8 N·m (3.45 kgf·m)

T -axis (wrist twist) 19.6 N·m (2.0 kgf·m) 10.8 N·m (1.1 kgf·m)


R -axis (wrist roll) 2.45 kg·m2 1.45 kg·m2

B -axis (wrist pitch/yaw) 1.20 kg·m2 0.79 kg·m2

T -axis (wrist twist) 0.20 kg·m2 0.10 kg·m2

Mass 650 kg 820 kg

Ambient Conditions

Temperature 0 to +40˚C 0 to +40˚C (FM standard: 0 to +45˚C)Humidity 20 to 80%RH (non-condensing)


Power Requirements*3 max. 5.0 kVAInstallation Floor-mounted Shelf-mountedMax. Weight of Painting Devices on Arm 50 kg*4 25 kg*4

Type of Explosion-proof Combination of pressurized (fi a2G4) and intrinsic safety (ia2G4).Explosion Proof Certifi cation TIIS，FM, ATEX*5

Model MOTOMAN-EPX2800 MOTOMAN-EPX2800RType YR-EPX2800-*0** YR-EPX2800R-*0*0Controlled Axis 6 (Vertically articulated)

Payload 20 kg 15 kgRepeatability*1 ±0.5 mm

Range of Motion

S -axis (turning) −150˚ − +150˚ −120˚ − +120˚

L -axis (lower arm) −45˚ − +120˚−40˚ − +180˚ (S-axis −90˚ − +90˚)−40˚ − +120˚ (S-axis +90˚ − +120˚)−40˚ − +120˚ (S-axis −90˚ − −120˚)

U -axis (upper arm) −85˚ − +90˚ −70˚ − +90˚R -axis (wrist roll) −360˚ − +360˚B -axis (wrist pitch/yaw) −360˚ − +360˚T -axis (wrist twist) −360˚ − +360˚

Max. Speed


MOTOMAN-EPX2800/2800RLarge painting robot, 20-kg/15-kg payload

View A

View B View C

　 No interference with workpieces, because hoses for painting devices can be routed inside the hollow, slim arm. Ideal for painting interior panels of automobiles.

　 The response of painting devices can be enhanced by solenoid valves and electropneumatic regulators inside the pressurized enclosure. *: Inner diameter 70 mm

Lineup includes � oor-mounted and shelf-mounted types!

Hollow slim arm*

21.5±0.1

R675

R282590˚

90˚

377 450 950 270

2766

2017

652

390

0

381583

98.7

1985

180

2825

1187580

4500

975

1267

1400

817.

5

251

60˚

40˚ 90˚

90˚

20˚

670

437233

S

L

R

U

T

B

P-point

S

L

RU T

B

684

959

1157

2439

2778281

1729 0

1073

227

795.5

701

1467

3324

2351

491469

1258

0

3046

422

98.7

P-point

795.

595

030

014

521

90.5

1550 180250330

120˚

45˚

160˚

135˚

R2778

R1021

R519

392 378

335335

150˚

150˚

A

A

B

C

Tapped holes M6 (6 holes)(Depth: 12 mm) (Pitch: 1.0)

5.2 dia. H7(2 holes) (Depth: 10 mm)

140

dia

.

116

dia.

h7

ϕ70 ϕ 102

425

125477

618 12 dia. H7

+0.018012 　　

elongated holes(Width: 22 mm)

13.5 dia.(15 holes)

Tapped hole M8(1 hole) (Pitch: 1.25)

17.5 dia.(12 holes)

285 285

290

12 dia. H7

12 　　 elongated holes(Width: 22 mm)

+0.0180

9






Range of Motion

S -axis (turning) −150˚ − +150˚L -axis (lower arm) −50˚ − +110˚U -axis (upper arm) −70˚ − +90˚R -axis (wrist roll) −360˚ − +360˚B -axis (wrist pitch/yaw) −360˚ − +360˚T -axis (wrist twist) −360˚ − +360˚

Max. Speed


MOTOMAN-EPX2900Large painting robot, 20-kg payload

View A

View B

View C

*1 : Conforms to ISO 9283.*2 : Gravitational units are shown in parentheses.*3 : Varies in accordance with applications and motion patterns.


　Optimum for painting large-size workpieces such as car bodies.　 Color change valves (CCV) and the gear pump are mounted on the arm. Fine control

of painting is available, by solenoid valves and electropneumatic regulators inside the pressurized enclosure.

Large robot for painting large workpieces with greater ef� ciency and quality!

Hollow arm (Hollow process arm)*

H-typ

e Wris

t

Allowable Moment*2

R -axis (wrist roll) 72.0N·m (7.3 kgf·m)

B -axis (wrist pitch/yaw) 51.5N·m (5.2 kgf·m)

T -axis (wrist twist) 19.6N·m (2.0 kgf·m)

Mass 1030 kg

Ambient Conditions



Power Requirements*3 max. 5.0 kVAInstallation Floor-mountedMax. Weight of Painting Devices on Arm 50 kg including parts mounted in the wrist


intrinsic safety (ia2G4).

Explosion Proof Certifi cation TIIS，FM，ATEX

B

A

C

290

1200

750

380±0.1380±0.1

180

223223

80 210

100

550

98.7

498

20˚

50˚50˚ 110˚

20˚

30˚

300 1400

492470

0

2743

142835

5

01692 2900793696657

P-point

0

(from the S-Axis rotation center)R1000 (Protection hose range)*

U

L

S

R

T

B

* : Protection hose interference range is different according to customer’s condition.

160±0.1

340±

0.1

210±

0.1

250

250

20050 370±0.2

20050

310±0.150

0

3356

7033

5

300

300

60

203050

169

51

ϕ70 ϕ 102

51 21.5±0.1R2900300˚

R55

0

R793

3350

2921

2421

1043

750

410

1060

560

139


140

dia

.11

6 di

a. h

7

5.2 dia. H7 (2 holes)(Depth: 10 mm)


22 dia.(6 holes)

12 dia. H7(2 holes)

10

CONTROLLERSpecialized Controller for Painting

Dimensions Units: mm

Controller Speci� cations

Programming Pendant Speci� cations

FunctionsConfi guration Free-standing, enclosed typeCooling System Indirect coolingAmbient Temperature During operation: 0˚C to +45˚C / During storage: −10˚C to +60˚CRelative Humidity 90% max. (non-condensing)

Power SupplyThree-phase 200/220 VAC (+10%, −15%) at 60 Hz (Japan)Three-phase 200 VAC (+10%, −15%) at 50 Hz (Japan)

GroundingGrounding resistance: 100 Ω or lessNote: When using an explosion-proof programming pendant, the grounding resistance must be 10 Ω or less and 100 Ω or less.

Digital l/OsSpecialized signals: 17 inputs and 3 outputsGeneral signals: 　　 40 inputs and 40 outputsMax.I/O (optional): 1,024 inputs and 1,024 outputs

Positioning System By serial encoder

ProgrammingCapacity

JOB: 60,000 steps, 10,000 instructionsCIO ladder: 10,000 steps max.

Expansion Slots PCI: 2 slots for main CPUs and 1 slot for servo CPULAN (Connection to Host) 1 (10BASE-T/100BASE-TX)

Interface RS-232C: 1chControl Method Software servo control

Drive Units

For robot axes: SERVOPACK for AC Servomotors (can be controlled up to 6 axes)Time required for unit replacement: 5 minutesMaintenance: One amplifi er, six axes at one timeFor external axes: One converter combined with one amplifi er per axis

Painting Color Munsell notation 5Y7/1 (reference value)

Communication Port

CC-Link, DeviceNet (registered trademark of the ODVA), PROFIBUS (registered trademark of PROFIBUS User Organization)

Op

erat

ion

Coordinate System Includes joint, rectangular/cylindrical, tool, and user coordinates

Modifi cation of Teaching Points

Adding, deleting or correcting robot axes and external axes.

Inching Operation Allows inchingLocus Confi rmation Includes forward/reverse and continuous feedingSpeed Adjustment Allows automatic speed adjustment to match cycle timeTimer Setting Possible every 0.01 sShort-cut Function Includes direct-open function

Interface

CF (Compact Flash) card slot Standard type: At programming pendant Explosion-proof type: At front panel of controllerRS232C (At Control Circuit Board)LAN (100BASE-TX/10BASE-T) (At Control Circuit Board) (Optional)

Saf

ety

Feat

ures

Essential Measures Japanese Industrial Standard (JIS)

Running Speed Limit User defi nable

Enable Switch3 position type. Servo power can be tumed on at the middle position only. (Located on programming pendant)

Collision Proof Frames Includes doughnut-sector frame, cubic frame (user coordinates)

Self-diagnosis Classifi es errors and two types of alarms (major and minor)

and displays the data

User Alarm Display Displays alarm messages for peripheral devicesMachine Lock Allows test-run of peripheral devices without robot motionDoor Interlock Allows door to open only when main power switch is OFF.

Maint

enan

ce Fu

nctio

n System MonitoringTime Display

Controls power-ON time, servo power-ON time,playback time, moving time, operating time

Alarm Display Displays alarm messages and previous alarm recordsI/O Diagnosis Provides simulated enabled/disabled output possibleT.C.P. Calibration Automatically calibrates parameters for end effectors

Pro

gram

min

g Fu

nctio

n

Programming Interactive Programming

Robot Motion Control

Includes joint coordinates, linear/circular interpolation, and tool coordinates

Speed SettingUses percentage for joint coordinates, 0.1 mm/s, for interpolations, angular velocity for TCP fi xed motion

Program ControlInstruction

Includes jump, call, timer, pause, execution of some instructions during robot motion

Variables Global, local variablesTypes Byte, integer, double integer, real, character, positionI/O Instructions Includes discrete I/O control and pattern I/O processing

Painting UnitControl Instructions

Includes spray ON/OFF (anticipation available) andpainting conditions output

Painting Characteristics Filing

Multi-gun shift (up to 4 guns available)Includes amount of spray, pattern, atomizing, high-voltage,delay time of spraying, delay time of atomizing

Oth

ers Utilities

Includes 3-dimensional shift, optional setting coordinate shift, mirror imaging, robot zero-point check

Automatic Operation Job registration tableConveyor Synchronization Allows static conveyor teaching

Type Standard Explosion-proofDimensions 169 (W)×314.5 (H)×50 (D) mm 235 (W)×203 (H)×78 (D) mmMass 0.986 kg 1.25 kgMaterial Reinforced plastics Reinforced plastics

Operation Device

Select keys, axis keys, numerical/application keys, mode selector switch with keys (mode: teach, play, and remote), emergency stop button, enable switch, compact fl ash card interface device (compact fl ash is optional.)

Select keys, axis keys, numerical/application keys, emergency stop button, enable switch

Display

5.7-inch color LCD, touch panel 640×480 pixels( Alphanumeric characters, Chinese characters, Japanese letters, Others)

5.7-inch monochrome LCD, backlit white LED, touch panel 320×240 pixels( Alphanumeric characters, Chinese characters, Japanese letters, Others)

IEC Protection Class IP65 IP54

Cable LengthStandard: 8 m, Max. : 36 m

(with optional extension cable)

Standard: 8 m (20 m optional),Max. : 50 m

(with optional extension cable)

Approx. mass: 120 kg

Note: The following drawings shows models with Japanese specifi cations. Dimensions of models designed in accordance with FM or ATEX certifi cation are different.

Standard type

Explosion-proof type

Programming Pendant

20 480 2030 520

550

500

1400

( 69)

30 30

危　険

2×Door Lock

Emergency stop button

Connectorfor P.P. (×81)

Fixing jig(Provided by user)

Main powersupply switch

For �xing & attachingadditional cabinettapped holes M10(4 holes)(Depth: 14 mm)

11

MOTOFEEDERSpecial Workpiece Feader

MOTOFEEDER LineupEPX1250: Mounted; table pitch: 1,600 mmEPX1250: Mounted; table pitch: 1,800 mm

(See the dimensional drawing on this page.)EPX1250: Not mounted; table pitch: 1,400 mmEPX1250: Not mounted; table pitch: 1,600 mmEPX1250: Not mounted; table pitch: 1,800 mmEPX2050-A300: Not mounted; table pitch: 1,400 mmEPX2050-A300: Not mounted; table pitch: 1,600 mmEPX2050-A300: Not mounted; table pitch: 1,800 mm


Note: Contact your Yaskawa representative for more information.

View A and B

　 With a robot mounted on a MOTOFEEDER used for small workpieces (Max: 800 mm × 800 mm), a smaller space is required.　 Both indexed positioning and spindle rotations are possible.　 Air panels for painting devices are available (optional).

MOTOFEEDER Standard Speci�cationsItems SpecificationsNumber of Axis 2 (changing gears for tables)

Control Method AC servo drive control

Max. Load TableHeavy loads: 40 kg One-spindle, high-speed rotation models: 20 kg/tableTwo-spindle, high-speed rotation models: 10 kg/table

Repeatability ±0.55 mm, when table R is 300 mm.

Motion RangeArm: −180˚ to +180˚Table: Continuous rotation

Max. SpeedArm: 120˚/sTable for heavy loads: 270˚/sTable for high-speed rotation: 900˚/s

Allowable Moment of Inertia (GD2/4)

TableHeavy loads: 2.8 kg・m2

One-spindle, high-speed rotation models: 1.4 kg·m2 /tableTwo-spindle, high-speed rotation models: 0.7 kg·m2 /table

Mass1400-mm table pitch: 400 kg1600-mm or 1800-mm table pitch: 430 kg

AmbientConditions

Temperature 0°C to + 40°CHumidity 20 % to 80% RH (non-condensing)


Air Panel (Optional) Analog or 3-step control for one or two guns

Items Specifications

Explosion-proof Structure

Combination of pressurized enclosure and intrinsic safety TIIS: fia2G4*1 /ia2G4*2FM: Pressurization*1/intrinsic safety*2

Explosion Proof Certification TIIS, FM, ATEX (Application being planned)

Others Continuous rotation or indexed positioning

*1 : When power is on. *2 : When power is off.Note: The allowable moment of inertia shown here is the value used for tables for heavy loads 40 kg and tables for high-speed rotation 20 kg. Confirm that the calculated moment of inertia takes into account the maximum weight and the offset from the rotational center of the table and that it does not exceed the allowable moment of inertia.

12 dia. H7(2 positioning pin holes)

Tapped holes M10(2×6 holes)(Depth: 18 mm)

10 dia. H7 (4 holes)(Depth: 18 mm)

22.5°

30°

40 dia. H7

(Depth: 6 m

m)

22dia.(4 mounting holes) 235435

280480760

260±0.05460±0.05

235

235

560

200±

0.05

30°

( 800

)

(800)(Max. workpiece size)

305

700

270±

0.05

R900

R566

305

EPX1250

Drive for table rotation

Drive for arm rotation

Arm

Table

P-point

900 900

620

200

820

80

310

960

650

200520 86.5

606.5

19.2

29

260 260

86( 2

00)

39

1800

(532)350

585.

6

A B

ϕ 220ϕ1

80

ϕ125

Note: For FM-compliant models, a air-purge box is required.

MOTOMAN-EPX Series

LITERATURE NO. KAEP C940420 05BPublished in Japan January 2013 12-5

Speci�cations are subject to change without notice for ongoing product modi�cations and improvements.

© 2012-2013 YASKAWA ELECTRIC CORPORATION. All rights reserved.

YASKAWA ELECTRIC CORPORATION

In the event that the end user of this product is to be the military and said product is to be employed in any weapons systems or the manufacture thereof, the export will fall under the relevant regulations as stipulated in the Foreign Exchange and Foreign Trade Regulations. Therefore, be sure to follow all procedures and submit all relevant documentation according to any and all rules, regulations and laws that may apply.

13-1-11

Sales Department

YASKAWA Electric Corp. (Painting Robotics Sales Dept.)2-1 Kurosaki-Shiroishi, Yahatanishi-ku, Kitakyushu, Fukuoka 806-0004, JapanPhone: +81-93-645-8042 Fax: +81-93-645-7746

YASKAWA America, Inc. (Motoman Robotics Division) 100 Automation Way, Miamisburg, OH 45342, U.S.A.Phone: +1-937-847-6200 Fax: +1-937-847-6277

YASKAWA Europe GmbH (Robotics Division)Yaskawastrasse 1, 85391, Allershausen, GermanyPhone: +49-8166-90-100 Fax: +49-8166-90-103

YASKAWA Nordic ABBredbandet 1vån. 3 varvsholmen 392 30 Kalmar, SwedenPhone: +46-480-417-800 Fax: +46-480-417-999

YASKAWA Electric (China) Co., Ltd.12F, Carlton Bldg., No.21 HuangHe Road, HuangPu District, Shanghai 200003, ChinaPhone: +86-21-5385-2200 Fax: +86-21-5385-3299

YASKAWA SHOUGANG ROBOT CO., LTD.No.7 Yongchang North Road, Beijing E&T Development Area China 100176Phone: +86-10-6788-2858 Fax: +86-10-6788-2878

YASKAWA India Private Ltd. (Robotics Division)#426, Udyog Vihar Phase-IV, Gurgaon, Haryana, IndiaPhone: +91-124-475-8500 Fax: +91-124-475-8542

YASKAWA Electric Korea Co., Ltd9F, Kyobo Securities Bldg., 26-4, Yeouido-dong, Yeongdeungpo-gu, Seoul 150-737, KoreaPhone: +82-2-784-7844 Fax: +82-2-784-8495

YASKAWA Electric Taiwan Corporation9F, 16, Nanking E. Rd., Sec. 3, Taipei, 104 TaiwanPhone: +886-2-2502-5003 Fax: +886-2-2505-1280

YASKAWA Electric (Singapore) PTE Ltd151 Lorong Chuan, #04-02A New Tech Park, Singapore 556741Phone: +65-6282-3003 Fax: +65-6289-3003

YASKAWA Electric (Thailand) Co., Ltd.252/125-126 27th Floor, Tower B Muang Thai-Phatra Complex Building, Rachadaphisek Road, Huaykwang, Bangkok 10320, ThailandPhone: +66-2693-2200 Fax: +66-2693-4200

PT. YASKAWA Electric IndonesiaMenara Anugrah Lantai 1, Kantor Taman E.3.3, Jl. Mega Kuningan Lot 8.6-8.7, Kawasan Mega Kuningan, Jakarta, IndonesiaPhone: +62-21-57941845 Fax: +62-21-57941843

Documents

Robot Optimized for Painting MOTOMAN-EPX Seriesyaskawa.ir/_Download/Catalog/Yaskawa/Robotics/YAS-ROBOT-EPX.pdf · MOTOMAN-EPX2050 Medium painting robot, Lemma wrist View A View B