Robot Optimized for Spot Welding MOTOMAN-VS, MS, and …yaskawaindia.in/wp-content/uploads/2012/10/MOTOMAN-VS-MS-ES-… · Total Solutions to Achieve Short Processing MOTOMAN provides

Certified for ISO9001 andISO14001

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 Spot Welding

MOTOMAN-VS, MS, and ESSeries

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

Total Solutions to Achieve Short Processing

MOTOMAN provides revolutionary “short processing” for spot welding.

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

Hardware

Save SpaceEnergy

Mass

100 kg max.2

Installation spacefor the control panel is reduced

by 42%.1

Best Performance in its classThe highest speed in the world has been achieved by using high-speed, low-inertia AC servomotors and state-of-the-art control technology. A slimmer robot form has also been developed, while wrist allowable inertia has been increased.

Applicable in Severe EnvironmentsThe Waterproof, dustproof structure (Standard protection class IP67) for the wrist section enables robot application in environments subject to water drops and dust without a jacket.

A slim design with a control panel width of only 425 mm reduces the installation space by up to 42%. Up to 72 axes (8 robots) can be controlled by installing the additional BOX.

Manipulator DX100 Controller

Robots optimized for spot welding − Product Lineup

Pay

load

(kg

)

Maximum reach (mm)

1

2

:

:

Compared to conventional large-sized controllersES280D-230 : 150 kg max.

100

0

200ES200D

VS50

ES200RD

ES165D ES165RD

MS80W

1 200 kgR2651 mm2

MS120

1 120 kgR1623 mm2

1 165 kgR2651 mm2

ES280D-230

1 230 kgR2651 mm2

1 80 kgR2236 mm2

1 50 kgR1630 mm2

1 165 kgR3140 mm2

1 200 kgR3140 mm2

1000 2000 3000 4000

Payload

Maximum reach

1

2Shelf-mountedShelf-mounted

2

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.

Interference Checking Function3

Software

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 caused by programming mistakes.)

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.

Customeradvantages

Shortprocess

New robotsolutions

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

Power consumption is reduced due miniaturization of the Robot.

A single CPU can prevent collisions between up to eight Robot arms.

Energy savings :

Approx.25%

ES200N200 kg payload

MS80W80 kg payload

Downsized

Safety Barrier

Minimized safety barrier

Previoussafety barrier

Minimized Safety Barrier 4

Saving Energy

Controllers connected by the MOTOMAN-LINK (Network connection between controllers)

can check for and prevent interference between Robots in real-time.

Robot operation control On standby until next command

Operating status

Motor outputs

Brake

Timer

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 is operating for 16 hours and on standby for 8 hours

Optional

Energy savings :

Approx.25%

Optional

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.

3

1

2

3

Technologies are installed to achieve high-speed, high-quality spot welding. Waste-free Robot movements reduce tact time.

High ProductivityQuality

ARM control function has optimized motor gun’s acceleration/deceleration characteristics and operating performance to make the most of motor gun’s capabilities to reduce welding time. High-speed CPUs and optimization of pressure control further reduce the welding time.

Wear compensation (TWC-C) and gun change commands are executed in parallel with Robot air-cut operation to reduce the tact time.

Previously, the Robot stopped at position before executing the next command, but not commands are executed to move from position to position without stopping.

2

1

3

By controlling the welding pressure and current, high-quality three-plate layered spot welding can be achieved. (Under Development)

High-speed Motor Guns

Three-plate Layered Spot Welding

Parallel execution of work commands

Welding of 3-plate with a high thickness ratio can be welded.Improved welding quality, such as spatterless welding.Tact time is reduced.Workpiece layout design is simplified.

Two taps required.

Sheet 1

ConventionalRobots

Notch required(press type is expensive).

DX100

Sheet 2Sheet 3

MovableelectrodeP

ress

ure

Wel

ding

curr

ent

Fixedelectrode

Workpiece

First SVSPOTexecution execution

Second SVSPOT Workpiecereleased.

3-plate can be welded simultaneously with one tap.

Tact time is reduced.Workpiece layout design is simplified.

＜Tact Time＞

Conventional settings(NX100)

High-speed operation with short-pitch welding

Gun ARM controlGun ARM control

(DX100)

Multistage Compression Function

Tact time reduced by approx. 20%

Total Solutions to Achieve Short Processing

Shortened Shortened

Optional

4

Easy OperationSimulation

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

Error

Cause

Countermeasure

When an alarm occurs, the detail, cause, and countermeasure of the error are displayed on the Programming Pendant to provide measures for troubleshooting.

Speed Reducer LifeDiagnosis Function Troubleshooting Reduced Replacement

Time for Parts

Quick

We have reduced the time required to replace Controller parts to shorten recovery time when troubles do occur. (Required time for replacement: from 10 to 8 minutes: reduced by 20%)

The encoder can be replaced with standard tools since it employs a unit style and thus the required time for replacement is reduced. Note: Excluding the hollow actuator of the VS50.

An optional zeroing function can be used to accurately and quickly reset the home position after replacing the motor or encoder.

MOTOMAN continually strives to improve monitoring, troubleshooting, and structures to reduce maintenance and recovery time from failures.

Multi-window Display Function

Optional

MaintenanceTroubleshooting

The motor torque is monitored to diagnose the condition of the speed reducer. An alarm signal can be set to output to replace the speed reducer

before its life ends and it can prevent the line to stop beforehand. A job was created to measure

the torque of each axis at periodic intervals and create a torque database (shown below). The torque is compared to values in the database to determine the deterioration status of the speed reducer.

Program operation can be checked while monitoring I/O or variables on the programming pendant so that teaching and trial operation efficiency will increase.

MotoSimEG-VRC Simulator

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.

Optional

5

MOTOMAN-VS5050 kg payload, R1630 mm maximum reach

Manipulator SpecificationsMOTOMAN-VS50YR-VS00050-A00

7 (Vertically articulated)

50 kg±0.1 mm

−180˚ − +180˚−60˚ − +125˚−170˚ − +170˚−35˚ − +215˚−170˚ − +170˚−125˚ − +125˚−180˚ − +180˚

2.97 rad/s, 170˚/s2.27 rad/s, 130˚/s2.27 rad/s, 130˚/s2.27 rad/s, 130˚/s2.27 rad/s, 130˚/s2.27 rad/s, 130˚/s3.49 rad/s, 200˚/s

Allowable Moment

Allowable Inertia(GD2/4)

Mass

AmbientConditions

377 Nm377 Nm147 Nm

29.6 kgm2

29.6 kgm2

12.5 kgm2

640 kg0 C to +45 C

20 to 80%RH (non-condensing)

4.9 m/s2 or less

5.0 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

Range ofMotion

MaximumSpeed

ModelTypeControlled AxisPayloadRepeatability1

Power Requirements2

View A

View B

View C

A

molexmolexmolex

1BC

2BC 3BC

GREASE

BAT

A

molex

molex

1BC

2BC 3BC

WATER_IN1 WATER_IN2 WATER_OUT1 WATER_OUT2GREASE

BAT

molex

10 (effective range: 100 dia. )

Tapped holes M8(6 holes) (Depth: 18)

P.C.

D.80

Tapped holes PT3/8 with pipe plug (4 holes) forCooling Water

Primary power supply terminal block: UK150-3CU Matching terminals (provided by users):

Welding Power Supply:M8 Ring Tongue TerminalTransthermo: M3 Ring Tongue Terminal

450

22 dia. (8 holes)

195±

0.1

230±

0.1

195±0.1

230±0.1608

544.2

385

320

230400

195±0.1

195±

0.1

The seven-axis design enables low posture operation, closer installation to the workpiece, and flexible posture with gun axis fixed. This simplifies high-density installation.

A maximum pressure of 5,880 N has been achieved with an ultra compact gun of 50 kg or less.

All cables for spot welding accommodated to robot arm (World’s first)

Seven-axis Robot Optimized for Ultra-Compact Guns

Dimensions Units : mm : P-point Maximum Envelope

12 dia. (2 holes)

+0.018 0

100

dia.

0 − 0.0

22

50 d

ia.+ 0

.025

0

Note : SI units are used for specifications.

-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

-axis (wrist roll)


-axis (wrist twist)

-axis (wrist roll)


-axis (wrist twist)

RBTRBT

8 dia. (2 holes) (Depth: 12)

0−0.022

+0.015 0

Lamp(optional)

P-Point

T

S

L

BU

E

125˚

125˚

215 ˚

60˚

125˚

125° 125˚

16301223425610145

35˚

1575

875

540

370

171

560 289

572

2025

A

B

C

R

242251

1000

30

6

MOTOMAN-MS80W80 kg payload, R2236 mm maximum reach

Manipulator SpecificationsMOTOMAN-MS80WYR-MS0080W-A00


80 kg±0.07 mm

−180˚ − +180˚−90˚ − +155˚−185˚ − +160˚−360˚ − +360˚−125˚ − +125˚−360˚ − +360˚

2.97 rad/s, 170˚/s2.44 rad/s, 140˚/s2.79 rad/s, 160˚/s4.01 rad/s, 230˚/s4.01 rad/s, 230˚/s6.11 rad/s, 350˚/s

Allowable Moment


Mass

AmbientConditions

4.0 kVA



Others

Range ofMotion

MaximumSpeed


Power Requirements2

View A View B

View C

The width of the robot is only 530 mm wide even with the cables attached, enabling short processing on spot welding lines in high-density installation.

The increased wrist allowable inertia and wide range of motion with maximum reach of 2,236 mm have contributed to building flexible welding lines.

Slim Robot Optimized for Small and Medium Guns

Dimensions Units : mm : P-point Maximum Envelope Connector for internal user I/O wiring harness:JL05-2A24-28PC (with cap)Matching connector: JL05-6A24-28S (provided by users)

-axis (wrist roll)


-axis (wrist twist)

-axis (wrist roll)


-axis (wrist twist)

RBTRBT-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

392 Nm392 Nm196 Nm

28 kgm2

28 kgm2

11 kgm2

580 kg0 C to +45 C


4.9 m/s2 or less

12



Photo : Before guninstallation

1

2

3

4

5

Matching connector (provided by users)

MS3106B14S-1P

JL05-6A18-1P

JL05-6A20-29P

JL05-6A24-28P

MS3106B36-3P

Connector

For transthermo MS3100A14S-1S (with cap) For the external axis (power cable) JL05-2A18-1SC-F0 (with cap) For the external axis (encoder cable) JL05-2A20-29SC (with cap) For internal user I/0 wiring harness JL05-2A24-28SC (with cap) For the first welding power supply MS3100A36-3S (with cap)

0

Air inletKQE12-03

Cooling Water OUT2KQE12-04

Cooling Water IN2KQE12-04

Cooling Water IN1KQE12-04

Cooling Water OUT1 KQE12-04

C2BG3236 (Sankei)Terminal block(for the first welding powersupply and transthermo) isin the box

P.C.D

.80

4240

230±0.1

195±0.1

195±

0.138

523

0±0.

1

455

608455153

195±

0.1

244286

530

244286

530

Air exhaust KQE12-03

Cooling WaterOUT2 KQE12-03

Cooling WaterIN2KQE12-03

Cooling WaterOUT1KQE12-03Cooling WaterIN1KQE12-03

P-Point

540

870

210

320 1025 175

22361534

3770

1295

2456

3751

718

L

S

983

45˚90˚

T

BRU

160°

155°

185˚

1

23

4

5

50

611.5 200

505098.5

50

100

R2236

R718

180°

180°

C

A

B32

028

0

230400

195±0.1

Tapped holes M8 (4 holes)(Depth: 16) (Pitch: 1.25)

Tapped holes M8 (4 holes)(Depth: 16) (Pitch: 1.25)

6

6

10 (STANDARD) 8 (ZEROING)

50 d

ia. + 0

.025

0

100

dia.

0 − 0.0

22

6 dia. (1 hole) (Depth: 10)

+0.012 0

8 dia. (1 hole) (Depth: 14)

+0.015 0

Tapped holes M8(6 holes) (Depth: 14)(Pitch: 1.25)

22 dia. (8 holes)12 dia. (2 holes)+0.018

0

7

MOTOMAN-MS120120 kg payload, R1623 mm maximum reach

MOTOMAN-MS120YR-MS00120-A00


120 kg±0.2 mm

−150˚ − +150˚−60˚ − +50˚−105˚ − +72˚−360˚ − +360˚−130˚ − +130˚−360˚ − +360˚


Air inlet PT3/8with pipe plug

588 Nm588 Nm392 Nm35 kgm2

35 kgm2

14.5 kgm2

950 kg0 C to +45 C


4.9 m/s2 or less

M6

Tapped holes M8 (4 holes) (Depth: 15)

Connector for the first welding power supply:MS3100A36-3S (with cap)Matching connector:MS3106B36-3P (provided by users)

Tapped holesM12 (4 holes) (Depth: 24)

92179

6016

150˚

4512

.527.5

120

150˚




Connector for the external axis (power cable):JL05-2A18-1SC (with cap)Matching connector:JL05-6A18-1P(provided by users)

Connector for the external axis(encoder cable):JL05-2A20-29SC (with cap)Matching connector:JL05-6A20-29P (provided by users)

Connector for internal user I/O wiring harness (Casing side):JL05-2A22-14SC (with cap)Matching connector: JL05-6A22-14P(provided by users)

Air exhaust PT3/8with pipe plug

100 R162320

266504580

238

Connector for internal user I/O wiring harness (Base side):JL05-2A22-14PCMatching connector: JL05-6A22-14S (provided by users)

A

1BC

2BC

3BC

S1

230±0.1

230±0.1

185±

0.1

185±

0.1

345±0.1

250±

0.1

450 340

320

420

500

420

500

Manipulator Specifications

View A

View C

View B


8P.C.D.92

P.C.D.125

8

Tapped holesM10 (6 holes)(Depth: 12)

63 d

ia.

160

dia.

9 dia. (2 holes)(Depth: 8)


+0.0150

+0.0150

0 − 0.0

25

+ 0.0

300

Tapped holes M10 (6 holes)(Depth: 12)

20 dia. (2 holes)

+0.0210

22 dia. (8 holes)

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

12



Allowable Moment


Mass

AmbientConditions

4.5 kVA



Others

Power Requirements2

-axis (wrist roll)


-axis (wrist twist)

-axis (wrist roll)


-axis (wrist twist)

RBTRBT

C

B

B

U

TR A

L

SM5

M5

CD36

M5

M5

CD36

M5

M5

CD36

M6M6

M5M5M5M5

M5 M5 M5M5

M6M6

M6

M6

M6M6

M6M6

2378

0

215

621

1079

398

595

7310

13˚

105˚

2179

1623556

100 900 225

40140

5070

680

750

1920

300

190

82

P-Point

8

MOTOMAN-ES165D165 kg payload, R2651 mm maximum reach

MOTOMAN-ES165DYR-ES0165D-A00


165 kg [151.5 kg]3

±0.2 mm−180˚ − +180˚−60˚ − +76˚−142.5˚ − +230˚

−360˚ − +360˚ [−205˚ − +205˚]3

−130˚ − +130˚ [−120˚ − +120˚]3

−360˚ − +360˚ [−180˚ − +180˚]3



View A

View C

View B


Connector for internal user I/O wiring harness (Base side):JL05-2A28-21PC (with cap)Matching connector: JL05-6A28-21S (provided by users)Insertion-type pin

terminal for externalaxis power cable(In Casing)

2BC

1BC

S1AIR

3BC

893640

353±0.1

735

640

540

290±0.1 290±0.1

290±0.1 290±0.1

290±

0.129

0±0.1

350±

0.1

8P.C.D.92

P.C.D.125

8

540


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

5.0 kVA



Others

Power Requirements2

-axis (wrist roll)


-axis (wrist twist)

-axis (wrist roll)


-axis (wrist twist)

RBTRBT

Tapped holesM10 (6 holes)(Depth: 12)

63 d

ia.

160

dia.

9 dia. (2 holes)(Depth: 8)


22 dia. (8 holes)

20 dia. (2 holes)

16 dia. (2 holes)

+0.0150

+0.0150

0 − 0.0

25

+ 0.0

300

+0.0210

+0.0180


[868 Nm]3

[868 Nm]3

[83 kgm2]3

[83 kgm2]3

921 Nm921 Nm

85 kgm2

85 kgm2

490 Nm

45 kgm2

1100 kg0 C to +45 C


4.9 m/s2 or less

123

:::

Conforms to JIS B 8432.Varies in accordance with applications and motion patterns.When used with an external cable.


1307

0

687

126

2203

40

945 0

524

582

701

727

729

60˚

1150

650

5

75

85

137.5

50°

250

153

42˚ 25˚

285

76˚

18˚

82

1225 225

R608R608

12.5

27.5

46121961

410

2651

40255R2651

344

73

R729

601692

120

133

45

16

322

0

650

1024

348495

142.5°

3050

340491

C

B

BU

TR

L

S

A

180˚

180˚

P-Point






9

MOTOMAN-ES200D200 kg payload, R2651 mm maximum reach

Manipulator SpecificationsMOTOMAN-ES200DYR-ES0200D-A00


200 kg [186.5 kg]3

±0.2 mm−180˚ − +180˚−60˚ − +76˚−142.5˚ − +230˚

−360˚ − +360˚ [−205˚ − +205˚]3

−125˚ − +125˚ [−120˚ − +120˚]3

−360˚ − +360˚ [−180˚ − +180˚]3


View A

View B

View C

8

8

P.C.D.125


1BC

2BC

3BC

AIR S1

540

735

640

893640

350±

0.1

290±

0.1

290±0.1290±0.1

P.C.D.92

540

353±0.1290±0.1290±0.1

290±

0.1


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

5.0 kVA



Others

Power Requirements2

-axis (wrist roll)


-axis (wrist twist)

-axis (wrist roll)


-axis (wrist twist)

RBTRBT


63 d

ia.




22 dia. (8 holes)

20 dia. (2 holes)

16 dia. (2 holes)+0.0180

+0.0210

+0.0150

+0.0150

+ 0.0

300

180

dia.

0 − 0.0

25

123

:::



[1291 Nm]3

[1291 Nm]3

[141 kgm2]3

[141 kgm2]3

1344 Nm 1344 Nm

143 kgm2

143 kgm2

715 Nm

80 kgm2

1130 kg0 C to +45 C


4.9 m/s2 or less

Connector for internal user I/O wiring harness (Base side):JL05-2A28-21PC (with cap)Matching connector: JL05-6A28-21S (provided by users)

0

1225

687

126

19

20

21

491 340

1307 945 0

766

532

582

789

775

1401

153

46121961 2651

16322

0

1089

3050

650

348499

L

142.5˚

R608

27.5

12.5

410

40255

R2651

73

R789

16 60

344 92

2203 11

5065

025

0

B

A

40

60˚

585

137.57550˚

42˚ 25˚

285

76˚

18˚

91

1225 250

B

120

133

45

C

S

TRU

180˚

180˚






P-Point

Insertion-type pinterminal for externalaxis power cable(In Casing)

10

MOTOMAN-ES165RD165 kg payload, R3140 mm maximum reach

View C

View B

View A

8

8

P.C.D.125

P.C.D.92

353±0.1290±0.1 290±0.1

735

640

540

290±

0.129

0±0.1

350±

0.1

893640

540290±0.1 290±0.1

Air inlet PT3/8 with pipe plug

1BC

2BC

3BC

AIR S1

MOTOMAN-ES165RDYR-ES165RD-A00


165 kg [151.5 kg]3

±0.2 mm−180˚ − +180˚−130˚ − +80˚−112˚ − +208˚

−360˚ − +360˚ [−205˚ − +205˚]3

−130˚ − +130˚ [−120˚ − +120˚]3

−360˚ − +360˚ [−180˚ − +180˚]3




Allowable Moment


Mass

AmbientConditions

5.0 kVA



Others

Power Requirements2

-axis (wrist roll)


-axis (wrist twist)

-axis (wrist roll)


-axis (wrist twist)

RBTRBT

22 dia. (8 holes)



9 dia. (2 holes) (Depth: 8)10 dia. (2 holes) (Depth: 8)

63 d

ia.

[868 Nm]3

[868 Nm]3

[83 kgm2]3

[83 kgm2]3

921 Nm921 Nm

85 kgm2

85 kgm2

490 Nm

45 kgm2

1730 kg0 C to +45 C


4.9 m/s2 or less

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

160

dia.

0 − 0.0

25

+0.0150

+0.0150+ 0

.030

0

20 dia. (2 holes)+0.0210

16 dia. (2 holes)+0.0180

123

:::




C

B S

LU

R

BT

R3140R1000

R1212

R873

365

555

153250

2293

1150740

130˚

0795

28˚

0

1225

82

225

80°

78° 112°

1932

3140

1212

1107

20575

100

450

0

289

310

85

456

22

746

2295

2850

A

78˚

732

180˚

180˚


P-Point

11

MOTOMAN-ES200RD200 kg payload, R3140 mm maximum reach

View B

Air inlet PT3/8 with pipe plug

1BC

2BC

3BC

AIR S1

540

735

640

893640

350±

0.1

290±

0.1

290±0.1290±0.1540

353±0.1290±0.1290±0.1

290±

0.1

View A

8

8

P.C.D.125

P.C.D.92


Manipulator SpecificationsMOTOMAN-ES200RD

YR-ES200RD-A006 (Vertically articulated)

200 kg [186.5 kg]3

±0.2 mm−180˚ − +180˚−130˚ − +80˚−107˚ − +208˚

−360˚ − +360˚ [−205˚ − +205˚]3

−125˚ − +125˚ [−120˚ − +120˚]3

−360˚ − +360˚ [−180˚ − +180˚]3

1.57 rad/s, 90˚/s [1.67 rad/s, 95˚/s]3

1.48 rad/s, 85˚/s [1.58 rad/s, 90˚/s]3

1.48 rad/s, 85˚/s [1.67 rad/s, 95˚/s]3

2.11 rad/s, 120˚/s2.11 rad/s, 120˚/s3.32 rad/s, 190˚/s

View C


22 dia. (8 holes)

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

[1291 Nm]3

[1291 Nm]3

[141 kgm2]3

[141 kgm2]3

1344 Nm1344 Nm

143 kgm2

143 kgm2

715 Nm

80 kgm2

1800 kg0 C to +45 C


4.9 m/s2 or less

5.0 kVA



Others

Power Requirements2

-axis (wrist roll)


-axis (wrist twist)

-axis (wrist roll)


-axis (wrist twist)

RBTRBT



9 dia. (2 holes) (Depth: 8)10 dia. (2 holes) (Depth: 8)

63 d

ia. +0.015

0

+0.0150+ 0

.030

0

20 dia. (2 holes)

+0.0210

16 dia. (2 holes)+0.0180

180

dia.

0 − 0.0

25

123

:::




0

1932

3140

564

42

766

2295

2850

1117

1232741

310

304 0

A

C

B S

LU

BT

153250

78˚

2293

1150740

130˚

0795

28˚

1225

91

250

80˚

78˚107˚

100

450

85

20575R

R3140R1000

R1232

365

555

180˚

180˚

R873

P-Point

12

MOTOMAN-ES280D-230230 kg payload, R2651 mm maximum reach

View B

View A

View C



MOTOMAN-ES280D-230YR-ES0280D-A10


230 kg±0.2 mm

−180˚ − +180˚−60˚ − +76˚−142.5˚ − +230˚−360˚ − +360˚−125˚ − +125˚−360˚ − +360˚


1333 Nm1333 Nm

706 Nm142 kgm2

142 kgm2

79 kgm2

1130 kg0 C to +45 C


4.9 m/s2 or less

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

12



Allowable Moment


Mass

AmbientConditions

10 kVA



Others

Power Requirements2

-axis (wrist roll)


-axis (wrist twist)

-axis (wrist roll)


-axis (wrist twist)

RBTRBT


P.C.D.92

8

8

P.C.D.125

350±

0.1

290±

0.1

290±0.1 290±0.1

290±

0.1

640893

540

353±0.1

290±0.1 290±0.1

640

735

540

16

322

0

650

1089

348499

3050

340491

1307 945 0

766

532

582

789

775

1401

40

142.5˚

S

TB

A

B

C

2203 60˚12

.2˚

1150

855

650

137.575

50°

250

153

42˚ 25˚

285

76˚

12.2°12.2˚18˚

91

1225 250

L

RU

0

1225

687

126

46121961 2651

491

7341

0

120

34416 60

92

133

R265140255

R789

12.5

27.5

45

180˚

180˚

R608

P-Point






180

dia.

0 − 0.0

25




+0.0150


+0.0150

63 d

ia. + 0

.030

0


22 dia. (8 holes)

20 dia. (2 holes)

+0.0210

16 dia. (2 holes)

+0.0180

13

SpecificationsDust proof425(W)×450(D)×1200(H) mm

1

MS and ES Series : Possible to control two external axesVS Series : Possible to control one external axis

100 kg max. 2

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-VS, MS, and ES Series

12

::MOTOMAN-ES280D-230 : 425(W)×570(D)×1200(H) mm MOTOMAN-ES280D-230 : 150 kg max.

Documents

Robot Optimized for Spot Welding MOTOMAN-VS, MS, and …yaskawaindia.in/wp-content/uploads/2012/10/MOTOMAN-VS-MS-ES-… · Total Solutions to Achieve Short Processing MOTOMAN provides