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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 pitch/yaw)
-axis (wrist twist)
SLEURBTSLEU RBT
-axis (wrist roll)
-axis (wrist pitch/yaw)
-axis (wrist twist)
-axis (wrist roll)
-axis (wrist pitch/yaw)
-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
6 (Vertically articulated)
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
Allowable Inertia(GD2/4)
Mass
AmbientConditions
4.0 kVA
Free from corrosive gasses or liquids, or explosive gassesFree from exposure to water, oil, or dustFree from excessive electrical noise (plasma)
TemperatureHumidityVibration
Others
Range ofMotion
MaximumSpeed
ModelTypeControlled AxisPayloadRepeatability1
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 pitch/yaw)
-axis (wrist twist)
-axis (wrist roll)
-axis (wrist pitch/yaw)
-axis (wrist twist)
RBTRBT-axis (turning)
-axis (lower arm)
-axis (upper arm)
-axis (wrist roll)
-axis (wrist pitch/yaw)
-axis (wrist twist)
-axis (turning)
-axis (lower arm)
-axis (upper arm)
-axis (wrist roll)
-axis (wrist pitch/yaw)
-axis (wrist twist)
SLURBTSLU RBT
392 Nm392 Nm196 Nm
28 kgm2
28 kgm2
11 kgm2
580 kg0 C to +45 C
20 to 80%RH (non-condensing)
4.9 m/s2 or less
12
::Conforms to JIS B 8432.Varies in accordance with applications and motion patterns.
Note : SI units are used for specifications.
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
6 (Vertically articulated)
120 kg±0.2 mm
−150˚ − +150˚−60˚ − +50˚−105˚ − +72˚−360˚ − +360˚−130˚ − +130˚−360˚ − +360˚
2.27 rad/s, 130˚/s1.92 rad/s, 110˚/s2.27 rad/s, 130˚/s3.75 rad/s, 215˚/s3.14 rad/s, 180˚/s5.24 rad/s, 300˚/s
Air inlet PT3/8with pipe plug
588 Nm588 Nm392 Nm35 kgm2
35 kgm2
14.5 kgm2
950 kg0 C to +45 C
20 to 80%RH (non-condensing)
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˚
Tapped holes M5 (2 holes) (Depth: 10)
Tapped holes M6 (2 holes) (Depth: 12)
Tapped holes M8 (4 holes) (Depth: 15)
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
Dimensions Units : mm : P-point Maximum Envelope
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)
10 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
ModelTypeControlled AxisPayloadRepeatability1
-axis (turning)
-axis (lower arm)
-axis (upper arm)
-axis (wrist roll)
-axis (wrist pitch/yaw)
-axis (wrist twist)
-axis (turning)
-axis (lower arm)
-axis (upper arm)
-axis (wrist roll)
-axis (wrist pitch/yaw)
-axis (wrist twist)
SLURBTSLU RBT
12
::Conforms to JIS B 8432.Varies in accordance with applications and motion patterns.
Note : SI units are used for specifications.
Allowable Moment
Allowable Inertia(GD2/4)
Mass
AmbientConditions
4.5 kVA
Free from corrosive gasses or liquids, or explosive gassesFree from exposure to water, oil, or dustFree from excessive electrical noise (plasma)
TemperatureHumidityVibration
Others
Power Requirements2
-axis (wrist roll)
-axis (wrist pitch/yaw)
-axis (wrist twist)
-axis (wrist roll)
-axis (wrist pitch/yaw)
-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
6 (Vertically articulated)
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
1.92 rad/s, 110˚/s1.92 rad/s, 110˚/s1.92 rad/s, 110˚/s3.05 rad/s, 175˚/s2.62 rad/s, 150˚/s4.19 rad/s, 240˚/s
Manipulator Specifications
View A
View C
View B
Air inlet PT3/8with pipe plug
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
Dimensions Units : mm : P-point Maximum Envelope
Range ofMotion
MaximumSpeed
ModelTypeControlled AxisPayloadRepeatability1
-axis (turning)
-axis (lower arm)
-axis (upper arm)
-axis (wrist roll)
-axis (wrist pitch/yaw)
-axis (wrist twist)
-axis (turning)
-axis (lower arm)
-axis (upper arm)
-axis (wrist roll)
-axis (wrist pitch/yaw)
-axis (wrist twist)
SLURBTSLU RBT
Allowable Moment
Allowable Inertia(GD2/4)
Mass
AmbientConditions
5.0 kVA
Free from corrosive gasses or liquids, or explosive gassesFree from exposure to water, oil, or dustFree from excessive electrical noise (plasma)
TemperatureHumidityVibration
Others
Power Requirements2
-axis (wrist roll)
-axis (wrist pitch/yaw)
-axis (wrist twist)
-axis (wrist roll)
-axis (wrist pitch/yaw)
-axis (wrist twist)
RBTRBT
Tapped holesM10 (6 holes)(Depth: 12)
63 d
ia.
160
dia.
9 dia. (2 holes)(Depth: 8)
10 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
Tapped holes M10 (6 holes)(Depth: 12)
[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
20 to 80%RH (non-condensing)
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.
Note : SI units are used for specifications.
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
Tapped holes M5 (2 holes)(Depth: 10)
Tapped holes M8 (4 holes)(Depth: 15)
Tapped holes M6(2 holes) (Depth: 12)
Tapped holes M8 (4 holes) (Depth: 15)
Tapped holes M12 (4 holes)(Depth: 24)
9
MOTOMAN-ES200D200 kg payload, R2651 mm maximum reach
Manipulator SpecificationsMOTOMAN-ES200DYR-ES0200D-A00
6 (Vertically articulated)
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
1.67 rad/s, 95˚/s1.58 rad/s, 90˚/s1.67 rad/s, 95˚/s2.11 rad/s, 120˚/s2.11 rad/s, 120˚/s3.32 rad/s, 190˚/s
View A
View B
View C
8
8
P.C.D.125
Air inlet PT3/8with pipe plug
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
Dimensions Units : mm : P-point Maximum Envelope
Range ofMotion
MaximumSpeed
ModelTypeControlled AxisPayloadRepeatability1
-axis (turning)
-axis (lower arm)
-axis (upper arm)
-axis (wrist roll)
-axis (wrist pitch/yaw)
-axis (wrist twist)
-axis (turning)
-axis (lower arm)
-axis (upper arm)
-axis (wrist roll)
-axis (wrist pitch/yaw)
-axis (wrist twist)
SLURBTSLU RBT
Allowable Moment
Allowable Inertia(GD2/4)
Mass
AmbientConditions
5.0 kVA
Free from corrosive gasses or liquids, or explosive gassesFree from exposure to water, oil, or dustFree from excessive electrical noise (plasma)
TemperatureHumidityVibration
Others
Power Requirements2
-axis (wrist roll)
-axis (wrist pitch/yaw)
-axis (wrist twist)
-axis (wrist roll)
-axis (wrist pitch/yaw)
-axis (wrist twist)
RBTRBT
Tapped holes M10 (6 holes)(Depth: 12)
63 d
ia.
Tapped holes M10(6 holes) (Depth: 12)
9 dia. (2 holes) (Depth: 8)
10 dia. (2 holes) (Depth: 8)
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
:::
Conforms to JIS B 8432.Varies in accordance with applications and motion patterns.When used with an external cable.
Note : SI units are used for specifications.
[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
20 to 80%RH (non-condensing)
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˚
Tapped holes M5(2 holes) (Depth: 10)
Tapped holes M8(4 holes) (Depth: 15)
Tapped holes M8 (4 holes)(Depth: 15)
Tapped holes M6(2 holes) (Depth: 12)
Tapped holes M12 (4 holes)(Depth: 24)
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
6 (Vertically articulated)
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
1.83 rad/s, 105˚/s1.83 rad/s, 105˚/s1.83 rad/s, 105˚/s3.05 rad/s, 175˚/s2.62 rad/s, 150˚/s4.19 rad/s, 240˚/s
Manipulator Specifications
Dimensions Units : mm : P-point Maximum Envelope
Allowable Moment
Allowable Inertia(GD2/4)
Mass
AmbientConditions
5.0 kVA
Free from corrosive gasses or liquids, or explosive gassesFree from exposure to water, oil, or dustFree from excessive electrical noise (plasma)
TemperatureHumidityVibration
Others
Power Requirements2
-axis (wrist roll)
-axis (wrist pitch/yaw)
-axis (wrist twist)
-axis (wrist roll)
-axis (wrist pitch/yaw)
-axis (wrist twist)
RBTRBT
22 dia. (8 holes)
Tapped holes M10(6 holes) (Depth: 12)
Tapped holes M10(6 holes) (Depth: 12)
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
20 to 80%RH (non-condensing)
4.9 m/s2 or less
Range ofMotion
MaximumSpeed
ModelTypeControlled AxisPayloadRepeatability1
-axis (turning)
-axis (lower arm)
-axis (upper arm)
-axis (wrist roll)
-axis (wrist pitch/yaw)
-axis (wrist twist)
-axis (turning)
-axis (lower arm)
-axis (upper arm)
-axis (wrist roll)
-axis (wrist pitch/yaw)
-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
:::
Conforms to JIS B 8432.Varies in accordance with applications and motion patterns.When used with an external cable.
Note : SI units are used for specifications.
Connector for internal user I/O wiring harness (Base side):JL05-2A28-21PC (with cap)Matching connector: JL05-6A28-21S (provided by users)
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˚
Tapped holes M12(8 holes) (Depth: 24)
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
Tapped holes M12(8 holes) (Depth: 24)
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
Dimensions Units : mm : P-point Maximum Envelope
22 dia. (8 holes)
Range ofMotion
MaximumSpeed
ModelTypeControlled AxisPayloadRepeatability1
-axis (turning)
-axis (lower arm)
-axis (upper arm)
-axis (wrist roll)
-axis (wrist pitch/yaw)
-axis (wrist twist)
-axis (turning)
-axis (lower arm)
-axis (upper arm)
-axis (wrist roll)
-axis (wrist pitch/yaw)
-axis (wrist twist)
SLURBTSLU RBT
Allowable Moment
Allowable Inertia(GD2/4)
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
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)
TemperatureHumidityVibration
Others
Power Requirements2
-axis (wrist roll)
-axis (wrist pitch/yaw)
-axis (wrist twist)
-axis (wrist roll)
-axis (wrist pitch/yaw)
-axis (wrist twist)
RBTRBT
Tapped holes M10(6 holes) (Depth: 12)
Tapped holes M10(6 holes) (Depth: 12)
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
:::
Conforms to JIS B 8432.Varies in accordance with applications and motion patterns.When used with an external cable.
Note : SI units are used for specifications.
Connector for internal user I/O wiring harness (Base side):JL05-2A28-21PC (with cap)Matching connector: JL05-6A28-21S (provided by users)
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
Manipulator Specifications
Dimensions Units : mm : P-point Maximum Envelope
MOTOMAN-ES280D-230YR-ES0280D-A10
6 (Vertically articulated)
230 kg±0.2 mm
−180˚ − +180˚−60˚ − +76˚−142.5˚ − +230˚−360˚ − +360˚−125˚ − +125˚−360˚ − +360˚
1.39 rad/s, 80˚/s1.22 rad/s, 70˚/s1.39 rad/s, 80˚/s2.01 rad/s, 115˚/s1.92 rad/s, 110˚/s3.32 rad/s, 190˚/s
1333 Nm1333 Nm
706 Nm142 kgm2
142 kgm2
79 kgm2
1130 kg0 C to +45 C
20 to 80%RH (non-condensing)
4.9 m/s2 or less
Range ofMotion
MaximumSpeed
ModelTypeControlled AxisPayloadRepeatability1
-axis (turning)
-axis (lower arm)
-axis (upper arm)
-axis (wrist roll)
-axis (wrist pitch/yaw)
-axis (wrist twist)
-axis (turning)
-axis (lower arm)
-axis (upper arm)
-axis (wrist roll)
-axis (wrist pitch/yaw)
-axis (wrist twist)
SLURBTSLU RBT
12
::Conforms to JIS B 8432.Varies in accordance with applications and motion patterns.
Note : SI units are used for specifications.
Allowable Moment
Allowable Inertia(GD2/4)
Mass
AmbientConditions
10 kVA
Free from corrosive gasses or liquids, or explosive gassesFree from exposure to water, oil, or dustFree from excessive electrical noise (plasma)
TemperatureHumidityVibration
Others
Power Requirements2
-axis (wrist roll)
-axis (wrist pitch/yaw)
-axis (wrist twist)
-axis (wrist roll)
-axis (wrist pitch/yaw)
-axis (wrist twist)
RBTRBT
Connector for internal user I/O wiring harness (Base side):JL05-2A28-21PC (with cap)Matching connector: JL05-6A28-21S (provided by users)
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
Tapped holes M8 (4 holes) (Depth: 15)
Tapped holes M6 (2 holes)(Depth: 12)
Tapped holes M5 (2 holes)(Depth: 10)
Tapped holes M8 (4 holes)(Depth: 15)
Tapped holes M12(4 holes) (Depth: 24)
180
dia.
0 − 0.0
25
Tapped holes M10(6 holes) (Depth: 12)
Tapped holes M10(6 holes) (Depth: 12)
10 dia. (2 holes) (Depth: 8)
+0.0150
9 dia. (2 holes) (Depth: 8)
+0.0150
63 d
ia. + 0
.030
0
Air inlet PT3/8with pipe plug
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.