Catalogue of MOTOMAN robots - docs.yaskawa.eudocs.yaskawa.eu/Related robots arc welding...

Catalogueof

MOTOMAN robots

Table of Contents

Suitable for arc welding

Handling & General Applications with the HP-series

The high-speed, 6-axis MOTOMAN HP20D-6 robot offers superior performance in a variety of applications, such as handling, machine tending, packaging, cutting and assembly, where small to medium sized parts are handled.The compact HP20D-6 requires minimal installation space, and offers improved part accessibility and the widest work envelope in its class.

MOTOMAN HP20D-6General purpose and handling

Key benefits

� Increase productivity due to high speed motion

� Ideal for a variety of applications, multi-purpose robot

� Improved part accessibility

� A robust and ridgid robot with increased inertia

Specifications HP20D-6

AxesMaximum

motion range[ º ]

Maximumspeed

[ º /sec.]

Allowablemoment

[ Nm]

Allowable momentof inertia[ kg · m2]

S

L

U

R

B

T

±180

+155/–110

+255/–160

±200

+230/–50

±360

197

175

187

400

400

600

–

–

–

11.8

9.8

5.9

–

–

–

0.24

0.17

0.06

Controlled axes

Max. payload [kg]

Repeat. pos. accuracy [mm]

Max. working range [mm]

Temperature [º C]

Humidity [%]

Weight [kg]

Power supply, average [KVA]

6

6

±0,06

R = 1915

0 bis +45

20 – 80

273

2.8

MOTOMAN HP20D-6 Technical Data

Montagemöglichkeit: Floor, wall, ceiling

180°

180°

R1915

R314R512

260±0,1

170±

0,1

60

335

375

250

335

375

4 x Ø 18

2 x Ø 12 H7

60

513

Ø 2

5 H

7

Ø 5

0 h

8

6

45°

Ø 40

4 x M6, depth 10 mm

Ø 6 H7, depth 6 mm

1 x Air

Internal user wiring connectorMedia connector

0

1485

505

760

8014

0

995 105

1189

3459

1915

3530

1615

150

Working rangePoint P

A

B

C

P

View A

View B

View C

All dimensions in mm | Technical data may be subject to change without previous notice | Please request detailed drawings at [email protected] – YR-HP0020D-B10, D-07-2012, A-Nr. 150275

W = 3 kg

1000

LT (m

m)

100W = 6 kg

167 200 238 300

141

200

LB (mm)

105B-, T-axiscenter of rotation

B-axiscenter of rotation

P-point

Allowable wrist load

Headquarters YASKAWA Europe GmbHRobotics Yaskawastraße 1Division D-85391 Allershausen Tel. 0049 - 81 66 - 90 - 0 Fax 0049 - 81 66 - 90- 103 [email protected] www.yaskawa.eu.com

YASKAWA Academy YASKAWA Europe GmbHand sales office Robotics DivisionFrankfurt Hauptstraße 185 D-65760 Eschborn Tel. 0049 - 61 96 - 777 25-0 Fax 0049 - 61 96 - 777 25-39 [email protected] www.yaskawa.eu.com

mailto:[email protected]


http://www.yaskawa.eu.com



Handling & General Applications with the HP-series

The high-speed, 6-axis MOTOMAN HP20D, HP20F robot offers superior performance in a variety of applications, such as handling, welding, machine tending, packaging, cutting and assembly, where small to medium sized parts are handled.The compact HP20D, HP20F requires minimal installation space, and offers improved part accessibility and the widest work envelope in its class.This all-round robots can be driven by thehigh-performance-controller DX100 as well as the compact-controller FS100.

MOTOMAN HP20D, HP20FGeneral purpose and handling

Key benefits

� Increase productivity due to high speed motion


� Improved part accessibility

� A robust and ridgid robot with increased inertia

Specifications HP20D, HP20F

AxesMaximum

motion range[ º ]

Maximumspeed

[ º /sec.]

Allowablemoment

[ Nm]


S

L

U

R

B

T

±180

+155/–110

+255/–165

±200

+230/–50

±360

197

175

187

400

400

600

–

–

–

39.2

39.2

19.6

–

–

–

1.05

1.05

0.75

Controlled axes

Max. payload [kg]



Temperature [º C]

Humidity [%]

Weight [kg]


6

20

±0.06

R = 1717

0 to +45

20 – 80

268

2

138.5

264 157421

R421

R1717

180°

180°

R314

150

2072

81°

559

238

0

505

505

760

1485

260 0

471

807

991917

155°

165°

110°

255°

524

0

334

505

768

1003

140

80

1323

1417

87.5150 795

0514

635

459

288

349

413

105

807

1717

A

B

C

R

S

L

U B T

D

Working rangePoint P

P

1 x Air

Internal user wiring connector

2 x Ø 12 H7

4 x Ø 18

200

260

170

250

375

335

200313

60

335

375

±0.1

±0.1

±0.

1

±0.

1

Mounting options: Floor, ceiling, wall

4 x M6, depth 10 mm

70 70

1 x Air

Internal user wiring connector

PCD 40

4 x M6, depth 10 mm45°

Ø 6 H7, depth 6 mm

6

0.5

Ø 5

0 n7

Ø 2

5 H

7

6

View A

View B

View D

View C

MOTOMAN HP20D, HP20F Technical Data

All dimensions in mm | Technical data may be subject to change without previous notice | Please request detailed drawings at [email protected] – YR-HP0020D-B00 (DX100), YR-HP0020F-B00 (FX100), F-07-2012, A-No. 150273

W = 6kg

W = 10kg

W = 20kg

W = 16kg

300

100

200

LT (m

m)

LB (mm)100 200 300 400

105B-, T-axiscenter of rotation


P-point

4 x M6, depth 10 mm

70

70

W1 = Weight at wrist W2 = Weight at U-axis

Allowable load on U-axis

*1 In this case, unbalanced moment is not permitted

*1

(mm

)

30

(kg)

W1=16kg20

10W1= 20kg

0

W1= 10kg

W1= 6kg

Wei

ght W

2

–200 –100 0 100 200 300 400 500

Allowable wrist load Allowable load on U-axis








Arc Welding with the MA-series

The 6-axis MOTOMAN MA1400 has been developed in order to achieve optimal results in extremely difficult conditions and especially for the high demands of arc welding applications. With it’s superior wire feed system, the maximum working range of 1,434 mm and integrated media hose package, the 6-axis robot MA1400 significantly improve welding quality. This enables the simple machining of bulky and hard-to-access workpieces. The fast motion sequences reduce welding cycle times. The torch cables are integrated in the robot arm in order to avoid collisions with the workpiece or other robots. This not only ensures greater accessibility to the devices; the reduced torsional and flexural loads on the torch dress package also result in less wear. Additionally, the possible number of robots in the production cells can be increased considerably. Further new features are the integration of the power cable as well as the gas and air connections in the base and an enlarged turning range of more than 360°.

MOTOMAN MA1400Shielded arc welding

Key benefits

� Enlarged welding reach with maximum working range of 1,434 mm

� Can always be used for welding of short and very long seams

� Protected cable routing in the robot arm

� Simple machining of bulky and hard-to-access workpieces

� Increased productivity

� Production space savings thanks to high density of robots in the cell

� Increased productivity with world’s fastest dynamics

� Space-saving cell concept

Specifications MA1400

AxesMaximum

motion range[ º ]

Maximumspeed

[ º /sec.]

Allowablemoment

[ Nm]


S

L

U

R

B

T

±170

+155/–90

+190/–175

±150

+180/–45

±200

220

200

220

410

410

610

–

–

–

8.8

8.8

2.9

–

–

–

0.27

0.27

0.03

Controlled axes

Max. payload [kg]



Temperature [º C]

Humidity [%]

Weight [kg]


6

3

±0.08

R = 1434

0 to +45

20 – 80

130

1.5

MOTOMAN MA1400 Technical Data


60

132±0.1

153±0.1

102±0.130

0

100±0.1

130±

0.1

132±

0.1

102±

0.1

260

300

153

24060

4 x Ø 18

292

260

2 x

Ø 1

6 H

7

1 x Ø 12 H7

ロ

70

15

Maximum barycenter adjustment for periphery

2 x Air


Ø 50

6 x M4, depth 10 mm

30°

PCD 56

Ø 6 H7, depth 6 mm

5

6


Ø 9

0

Ø 4

2

Ø 4

2 H7

170°

R270

R426

170°

75

R1434

70

Ø 42

36

2 x M6, depth 14 mm

199

155199

200

2511

1734

0

361

77783°

110

122

78

30

175°

155°

90°

190°

640150

200

614

450

T

Ø 100726

294

210

426

1434

84

1134

1059

0

Working range Point P

P

B

T

R

U

S

L

A

C

B

D


2 x Air

Welding power source’sterminal board

View A

View B

View C

View D

All dimensions in mm | Technical data may be subject to change without previous notice |Please request detailed drawings at [email protected] – YR-MA01400-B00, E-07-2012, A-No. 150298

W=3 kg

200

100

300 400200100

200

LT (m

m)

LB (mm)R-, T-axiscenter of rotation


P-point










The 6-axis MOTOMAN MA1400-4 has been devel-oped in order to achieve optimal results in extremely diffi cult conditions and especially for the high demands of arc welding applications. With it’s superior wire feed system, the maximum working range of 1,434 mm and integrated media hose package, the 6-axis robot MA1400-4 signifi cantly improve welding quality. This enables the simple machining of bulky and hard-to-access workpieces. The fast motion sequences reduce welding cycle times. The torch cables are integrated in the robot arm in order to avoid collisions with the workpiece or other robots. This not only ensures greater accessibility to the devices; the reduced torsional and fl exural loads on the torch dress package also result in less wear. Additionally, the possible number of robots in the production cells can be increased considerably. Further new features are the integration of the power cable as well as the gas and air connections in the base and an enlarged turning range of more than 360°.

MOTOMAN MA1400-4Shielded arc welding

Key benefi ts









Specifications MA1400-4

AxesMaximum

motion range[ º ]

Maximumspeed

[ º /sec.]

Allowablemoment

[ Nm]


S

L

U

R

B

T

±170

+155/–90

+190/–175

±150

+180/–45

±200

220

200

220

185

164

610

–

–

–

14

14

0.98

–

–

–

0.27

0.27

0.03

Controlled axes

Max. payload [kg]



Temperature [º C]

Humidity [%]

Weight [kg]


6

4

±0.08

R = 1434

0 to +45

20 – 80

130

1.5

MOTOMAN MA1400-4 Technical Data


60

132±0.1

153±0.1

102±0.130

0

100±0.1

130±

0.1

132±

0.1

102±

0.1

260

300

153

24060

4 x Ø 18

292

260

2 x

Ø 1

6 H

7

1 x Ø 12 H7

ロ

70

15


2 x Air


Ø 50

6 x M4, depth 10 mm

30°

PCD 56

Ø 6 H7, depth 6 mm

5

6


Ø 9

0

Ø 4

2

Ø 4

2 H7

170°

R270

R426

170°

75

R1434

70

Ø 42

36

2 x M6, depth 14 mm

199

155199

200

2511

1734

0

361

77783°

110

122

78

30

175°

155°

90°

190°

640150

200

614

450

T

Ø 100726

294

210

426

1434

84

1134

1059

0


P

B

T

R

U

S

L

A

C

B

D


2 x Air


View A

View B

View C

View D

All dimensions in mm | Technical data may be subject to change without previous notice |Please request detailed drawings at [email protected] – YR-MA01400-B80, A-04-2013, A-No. 162538

W=4 kg

200

100

300 400200100

200

LT (m

m)



P-point










The Motoman MA1550 was developed on the basis of the service-proven MA1400. The working range has been extended by 150 mm to 1584 mm. The superior wire feed system and integrated cable routing have been retained. This opens up new fields of application for the arc welding of bulky workpieces that are difficult to reach, while ensuring high-quality results.This is assured not only by the high path accuracy of Motoman robots, but also by the integrated supply lines that prevent collisions in the workspace, minimize wear to the torch dress package and facilitate access to the fixture. Furthermore, power, gas and air connections are integrated in the base, allowing the implementation of a 360° workspace. Fast motion sequences and high repeatability ensure high workpiece output.


Key benefits

� Extended working range to provide increased flexibility for large work pieces

� Improves weld quality

� Protected cable routing inside the robot arm

� Low space requirements thanks to streamlined design

� Increased productivity thanks to high dynamic performance


AxesMaximum

motion range[ º ]

Maximumspeed

[ º /sec.]

Allowablemoment

[ Nm]


S

L

U

R

B

T

±170

+155/–90

+190/–175

±150

+180/–45

±200

220

200

220

410

410

610

–

–

–

8.8

8.8

2.9

–

–

–

0.27

0.27

0.03

Controlled axes

Max. payload [kg]



Temperature [º C]

Humidity [%]

Weight [kg]


6

3

±0.08

R = 1584

0 to +45

20 – 80

130

1.5



60

132±0.1

153±0.1

102±0.130

0

100±0.1

130±

0.1

132±

0.1

102±

0.1

260

300

153

24060

4 x Ø 18

292

260

2 x

Ø 1

6 H

7

1 x Ø 12 H7

ロ

70

15

Attachments shall be mounted within this range

2 x Air


Ø 50

199

155199


2 x Air

Welding power sourceterminal board

6 x M4, depth 10 mm

30°

PCD 56

Ø 6 H7, depth 6 mm

5

6

Attachments shall be mounted within this range

Ø 9

0

Ø 4

2

Ø 4

2 H7

R1584R270

R479

Ø 42

170°

170°

36

75 70

2 x M6, depth 14 mm

190°

450

614

200

150 790

90°

155°

175°

30

Ø100

110

158447

90

360

1209

1284

83°

921

361

0

241

745

1879

2511

200

84 7812

2

B

T

RU

S

LA

C

B

D


P

View A

View B

View C

View D

W=3 kg

200

100

300 400200100

200

LT (m

m)



P-point




All dimensions in mm | Technical data may be subject to change without previous notice | Please request detailed drawings at [email protected] – YR-MA01550-B00, A-11-2012, A-No. 159592







The 6-axis MOTOMAN MA1800 is remarkable for its excellent performance in all applications. In addition to welding, the robot can also be used for other tasks such as handling applica-tions. All supply lines are routed through the upper part of the arm and the wrist axes of the robot in order to reduce interference contours and enlarge the possible working range. A payload capacity of 15 kg allows for a large field of applications of the 6-axis robot. The media hose package is routed inside the wrist and thus protected thereby ensuring better accessibility to the devices and workpieces. The optimized supply line system considerably extends the durability of the cables and hoses. In addition to this, the whiplash effect of conventional supply lines could be completely eliminated. Additionally, the possible number of robots in the production cells can be increased significantly. Defined interference contours enable synchronous cooperation of several robots in a minimum of space.

MOTOMAN MA1800Shielded arc welding and handling

Key benefits

� Max. payload of 15 kg

� Max. working range of 1,807 mm

� Ideally suited to welding and handling applications

� Simpler programming and installation

� The world’s fastest in its class

� Complete media hose package is lead through the upper arm and the head axes of the robot


AxesMaximum

motion range[ º ]

Maximumspeed

[ º /sec.]

Allowablemoment

[ Nm]


S

L

U

R

B

T

±180

+155/–100

+210/–175

±175

+180/–45

±200

195

175

190

380

340

560

–

–

–

38.6

38.6

7.35

–

–

–

1.04

1.04

0.04

Controlled axes

Max. payload [kg]



Temperature [º C]

Humidity [%]

Weight [kg]


6

15

±0.08

R = 1807

0 to +45

20 – 80

380

5


R1807

5575

R306

40 15

180°

180°

2 x M6, depth 8 mm

45

206

112

94

285 210

150 870 45

555

760

220

1535 10

0°

155°

81°

30°

1807

376

1242

1507 0

509

202

429

1031

0

471

322

914

2212

3243

175°

110

210°

185


P

T

RU

L

B

B

CS

A

D


1 x Air


Ø 6 H7, depth 6 mm

6 x M4, depth 8 mm

PCD 56

30°

Ø 4

5 H

7Ø 4

5

6

2

Ø 10

0

335

380

120

50

130±0.1 130±0.1

335

380

12050

170±

0.1

195±0.1

195±

0.1

344

300

2 x 12 Ø H7

4 x Ø 18

70

Ø 45


1 x Air


View A

View B

View C

View D

All dimensions in mm | Technical data may be subject to change without previous notice | Please request detailed drawings at [email protected] – YR-MA01800-B00, E-07-2012, A-No. 150300

W=15kg

100

50

300260200100

LT (m

m)

LB (mm)185 R-, T-axis

center of rotation B-axiscenter of rotation

P-point










The 6-axis MOTOMAN MA1900 has been developed in order to achieve optimal results in extremely difficult conditions and especially for the high demands of arc welding applications. With it’s superior wire feed system, the maximum working range of 1,904 mm and integrated media hose package, the 6-axis robot MA1900 significantly improve welding quality. This enables the simple machining of bulky and hard-to-access workpieces. The fast motion sequences reduce welding cycle times. The torch cables are integrated in the robot arm in order to avoid collisions with the workpiece or other robots. This not only ensures greater accessibility to the devices; the reduced torsional and flexural loads on the torch dress package also result in less wear. Additionally, the possible number of robots in the production cells can be increased considerably. Further new features are the integration of the power cable as well as the gas and air connections in the base and an enlarged turning range of more than 360°.


Key benefits










AxesMaximum

motion range[ º ]

Maximumspeed

[ º /sec.]

Allowablemoment

[ Nm]


S

L

U

R

B

T

±180

+155/–110

+220/–165

±150

+180/–45

±200

197

175

185

410

410

610

–

–

–

8.8

8.8

2.9

–

–

–

0.27

0.27

0.03

Controlled axes

Max. payload [kg]



Temperature [º C]

Humidity [%]

Weight [kg]


6

3

±0.08

R = 1904

0 to +45

20 – 80

280

2.8


All dimensions in mm | Technical data may be subject to change without previous notice | Please request detailed drawings at [email protected] – YR-MA01900-B00, E-07-2012, A-No. 150302

1 x Air



2 x Ø 12 H7

4 x Ø 18

375

335

60

260±0.1

170±

0.1

200±

0.1

335

200±0.1313

60

375

4015

75

180°

55180°

R554

R1904

2 x M6, depth 12 mm

1904

1485

505

760

220

1604 554

150

0

30970

200

0

2259

155°

110°

165°

220°

81°

4091166

647

1178

3437


P

T

L

B

B

CS

A

D

RU

Ø 50

70 Maximum barycenter adjustment for periphery

1 x Air


Ø 6 H7, depth 6 mm

6 x M4,depth 10 mm

PCD 56

30°5

6


Ø 9

0

Ø 4

2

Ø 4

2 H

7

View A

View B

View C

View D

W=3 kg

200

100

300 400200100

200

LT (m

m)



P-point









Handling & General Applications with the MH-series

The MOTOMAN MH50-20 is a dynamic, high-speed robot featuring an extended reach for large parts. It offers superior performance in arc welding, coating, gluing, dispensing, material cutting and material handling applications.

MOTOMAN MH50-20General purpose and handling

Key benefits

� High repeatability ±0.15 mm


� Very wide motion range

� Small interference radius reduces floorspace requirements

� Specifically designed for processing large parts

Specifications MH50-20

AxesMaximum

motion range[ º ]

Maximumspeed

[ º /sec.]

Allowablemoment

[ Nm]


S

L

U

R

B

T

±180

+135/–90

+251/–160

±190

±230/–50

±360

180

178

178

400

400

600

–

–

–

39.2

39.2

19.6

–

–

–

1.05

1.05

0.75

Controlled axes

Max. payload [kg]



Temperature [º C]

Relative humidity [%]

Weight [kg]


6

20

±0.15

R = 3106

0 to +45

20 – 80

495

3.5

MOTOMAN MH50-20 Technical Data

All dimensions in mm | Technical data may be subject to change without previous notice | Please request detailed drawings at [email protected] – YR-MH00050-B10, F-07-2012, A-No. 150269

1 x Air


230

400

195±0.1 230±0.1

195±0.1

195±

0.132

0

385

230±

0.1

8 x Ø 22

195±

0.1

455

608455153

280

2 x Ø 12 H7


6

60.5 PCD 40 45°

Ø 5

0 n

6

Ø 2

5 H

7

4 x M6Ø 6 H7

2 x 2 M8

2 x 2 M8

R3106

28.5 120

80 30

661.5 400R965

R377180°

180°

2816 10

65 665

5922

36 0

2084

3106

10771227

414

5585

0

2070

3501

358

733

923

208

1050

1396

1402

145 1800 105

55

1990

540

1150

200

100

160°

135°

45°90°

71°

206°

25°

65°

10°

105 10522

3.540 4 x M12


P

A

B

C

R

S

L

TU B

253349

1 x Air


234234

View A

View B

View C


W = 6 kg

W = 10 kg

W = 20 kg

W = 16 kg

100

LT (m

m)

100

200 300 400

200

300

LB (mm)

P-point

105T-, R-axiscenter of rotation


Wrist + U-arm in front

U-arm behind

S-axis below

Up to 20 kg for attaching load mass including wrist load.

Up to 10 kg. 49 N • m (5 kgf • m) max. for increased moment amount of upper arm (floor-, ceiling-mounted type only).

Up to 30 kg (floor-, ceiling-mounted type only).









The MOTOMAN MH50-35 is a dynamic, high-speed robot featuring an extended reach for large parts. It offers superior performance in laser welding, coating, dispensing, gluing, material cutting and material handling applications.


Key benefits

� High repeatability: ±0.07 mm


� Wide motion range

� Small interference radius reduces floorspace requirements

� Specifically designed for processing large parts


AxesMaximum

motion range[ º ]

Maximumspeed

[ º /sec.]

Allowablemoment

[ Nm]


S

L

U

R

B

T

±180

+135/–90

+296/–160

±360

±125

±360

180

140

178

250

250

360

–

–

–

147

147

78

–

–

–

10

10

4

Controlled axes

Max. payload [kg]



Temperature [º C]

Relative humidity [%]

Weight [kg]


6

35

±0.07

R = 2538

0 to +45

20 – 80

570

4.0


All dimensions in mm | Technical data may be subject to change without previous notice | Please request detailed drawings at [email protected] – YR-MH00050-B20, D-07-2012, A-No. 150271


10kg

20kg

30kg

35kg

LT (m

m)

200

400 600 800

400

600

1000LB (mm)

P-point

T-, R-axiscenter of rotation


Wrist + U-arm in front

U-arm behind

S-axis below

Up to 35 kg for attaching load mass including wrist load.

Up to 10 kg. 49 N • m (5 kgf • m) max. for increased moment amount of upper arm (floor-, ceiling-mounted type only).

Up to 30 kg (floor-, ceiling-mounted type only).

230

400

195±0.1 230±0.1

195±0.1

195±

0.132

0

385

230±

0.1

8 x Ø 22

195±

0.1

455

608455153

280

2 x Ø 12 H7


A

B

C

R

S

L

T

U B

540

1150

210

187 1225 175145

64°

10°

65°

80°

2087

57

105 105

223.5

40

2248 95

0

165

428

160°

1516

469

702889

2538

229

0

4448

1549

960

2933

90°

135°

45°

121

279

513

565

206°

4 x M12


P

42

6 x M8, depth 14 mm

40

6Ø 6 H7, depth 10 mm

P

CD 80

Ø 8 H7, depth 14 mm

Ø 1

00 H

6

Ø 5

0 H

7

10

4 x M8

4 x M8

R2538R377

10098.5

5050

200811.5

50 50

1 x Air


253343

234234

1 x Air


View A

View B

View C









The MOTOMAN MH50 is a versatile, high-speed 6-axis robot offering superior performance in material handling, machine tending, processing and dispensing applications.Featuring a streamlined body, the MH50 can be placed close to machines for loading and unloading of parts.

MOTOMAN MH50General purpose and handling

Key benefits

� Fast, flexible and reliable


� Robot with sleek design that requires minimal installation space

� 50 kg payload

Specifications MH50

AxesMaximum

motion range[ º ]

Maximumspeed

[ º /sec.]

Allowablemoment

[ Nm]


S

L

U

R

B

T

±180

+135/–90

+251/–170

±360

±125

±360

180

178

178

250

250

360

–

–

–

216

216

147

–

–

–

28

28

11

Controlled axes

Max. payload [kg]



Temperature [º C]

Humidity [%]

Weight [kg]


6

50

±0.07

R = 2061

0 to +45

20 – 80

550

4

MOTOMAN MH50 Technical Data

View A

View B

View C

All dimensions in mm | Technical data may be subject to change without previous notice | Please request detailed drawings at [email protected] – YR-MH00050-B00, F-07-2012, A-No. 150267

210

870

540

187

1807

120°

8721360510561771 248 530 543 2061

3832

0

145 1025 175

437

925

2456

460

1121

3578

0

135°

90°

55°

170°

118

1369

453

0105 105

57

223.5

40

253343

1 x Air


234234

A

B

C

TRU

S

L

B

1 x Air


42

6 x M8, depth 14 mm

40

6

6


PCD 80


Ø 1

00 h

7

Ø 5

0 H

7

10 (Standard） 8 (Zeroing）

4 x M12, depth 20 mm


P

230

400

195±0.1 230±0.1

195±0.1

195±

0.132

0

385

230±

0.1

8 x Ø 2219

5±0.

1

455

608455153

280

2 x Ø 12 H7


R543R2061

50 50

200611.5

10098.5

5050

4 x M8, depth 16 mm

R377

4 x M8, depth 16 mm

P-point

T-, R-axiscenter of rotation

B-axis center of rotationLT (mm)

LB (mm)

200 400 600 800 1000 1200 1400 1600 1800

1200

1000

800

600

400

200

200

400

600

800

1000

1200

10 kg

20 kg

30 kg

40 kg50 kg










The MOTOMAN MH6-10 is a compact and powerful 6-axis robot with high performance in a variety of applications such as machine tending, material handling and processing, where versatility is required.Its slim and lightweight design enables it to be positioned close to the workpiece to improve part accessibility.


Key benefits

� Compact and powerful


� Wide working envelope


AxesMaximum

motion range[ º ]

Maximumspeed

[ º /sec.]

Allowablemoment

[ Nm]


S

L

U

R

B

T

±170

+155/–90

+250/–175

±180

+225/–45

±360

140

130

135

270

270

400

–

–

–

12.2

14.2

7.3

–

–

–

0.24

0.21

0.06

Controlled axes

Max. payload [kg]



Temperature [º C]

Humidity [%]

Weight [kg]


6

10

±0.08

R = 1422

0 to +45

20 – 80

130

1.5


130

R270

R1422R381

170°

170°

141

199188

6

6

Ø 2

5 H

7

Ø 5

0 H

6

45°

PCD 40

4 x M6, depth 9 mm

Ø 6 H7, depth 6 mm

4 x Ø 18

102±0.1

153±0.1

153±

0.1

130±

0.1

100±0.1

300

292

260

102±

0.1

132±

0.1

60

132±0.1240

300

260

6 0

Ø 12 H72 x Ø 16 H7

A

B

C

175°83°

90°

155°

250°

614

155

956407545

0

1422

381

349

152

0309

637

1122

1722

681

352

05

204316

764

538 0

501

1294

S

L

B T

R

U


P


2 x Air


View A

View B

View C

All dimensions in mm | Technical data may be subject to change without previous notice | Please request detailed drawings at [email protected] – YR-MH00006-B30, D-07-2012, A-No. 150265

X Direction Restriction

Distance between Center of U-axis Rotation and Load Gravity (mm)

Wei

ght W

2 (k

g)

20

15

10

5

04003002000 100–200 –100

W1=0 kg

W1=5 kg

W1=10 kg

W=6kg

W=10kg

100

167145 200

150 LB (mm)

LT (m

m)

100

150

R-, T-AchseDrehmittelpunkt

B-AchseDrehmittelpunkt

P-Punkt










The MOTOMAN MH6D, MH6F is a compact and powerful 6-axis robot with high performance in a variety of applications such as machine tending, material handling and processing, where versatility is required.Its slim and lightweight design enables it to be positioned close to the workpiece to improve part accessibility. With increased speed of the robot axes, cycle times can be reduced up to 15% for increased productivity.This all-round robot can be driven by thehigh-performance-controller DX100 as well as the compact-controller FS100.

MOTOMAN MH6D, MH6FGeneral purpose and handling

Key benefits


� Cycle time reduction with up to 15%


� Wide working envelope

� 6 kg payload

Specifications MH6D, MH6F

AxesMaximum

motion range[ º ]

Maximumspeed

[ º /sec.]

Allowablemoment

[ Nm]


S

L

U

R

B

T

±170

+155/–90

+250/–175

±180

+225/–45

±360

220

200

220

410

410

610

–

–

–

11.8

9.8

5.9

–

–

–

0.27

0.27

0.06

Controlled axes

Max. payload [kg]



Temperature [º C]

Humidity [%]

Weight [kg]


6

6

±0.08

R = 1422

0 to +45

20 – 80

130

1.5

MOTOMAN MH6D, MH6F Technical Data

All dimensions in mm | Technical data may be subject to change without previous notice | Please request detailed drawings at [email protected] – YR-MH0006-B00 (DX100), YR-MH0006F-B00 (FX100), F-07-2012, A-No. 150260


2 x Air


130

R270

R1422R381

170°

170°

141

199188

A

B

C

175°83°

90°

155°

250°

614

155

956407545

0

1422

381

349

152

0309

637

1122

1722

681

352

05

204316

764

538 0

501

1294

S

L

B T

R

U


P

6

6

Ø 2

5 H

7

Ø 5

0 H

6

45°

PCD 40

4 x M6, depth 9 mm

Ø 6 H7, depth 6 mm

4 x Ø 18

102±0.1

153±0.1

153±

0.1

130±

0.1

100±0.1

300

292

260

102±

0.1

132±

0.1

60

132±0.1240

300

260

6 0

Ø 12 H72 x Ø 16 H7

View A

View B

View C



Wei

ght W

2 (k

g)

20

15

10

5

04003002000 100–200 –100

W1=0 kg

W1=6 kgW1=3 kg

100

238167 300200

W=6kg

W=3kg

LB (mm)

LT (m

m)

100

141

200

B-, T-axiscenter ofrotation


P-point









The industrial robots MOTOMAN MH6S and MH6S-10 are compact and powerful 6-axis robots with high performances in a variety of applications such as machine tending, material handling and processing, where versatility is required.The short-arm models of the MH6 familyis highly compact, giving it greaterstiffness and making it ideal for position- ing in confined spaces and close to the workpiece.It’s maximum working range amounts 977 mm. With increased speed of the robot axes, cycle times can be reduced.

MOTOMAN MH6S, MH6S-10General purpose and handling

Key benefits


� Greater Stiffness

� Ideal for a variety of applications, multi-purpose robots

� Maximum working range of 977 mm

� Maximum payload of 6/10 kg


Specifications MH6S, MH6S-10

AxesMaximum

motion range[ º ]

Maximumspeed

[ º/sec.] MH6S MH6S-10

Allowablemoment

[ Nm] MH6S MH6S-10

Allowablemoment of inertia

[ kg · m²] MH6S MH6S-10

S

L

U

R

B

T

±170

+133/–80

+165/–130

±180

+225/–45

±360

220 200

220 200

220 200

410 270

410 270

610 400

– –

– –

– –

11.8 12.2

9.8 14.2

5.9 7.3

– –

– –

– –

0.27 0.24

0.27 0.21

0.06 0.06

Controlled axes

Max. payload [kg] MH6S | MH6S-10



Temperature [º C]

Humidity [%]

Weight [kg]


6

6 | 10

±0.08

R = 997

0 to +45

20 – 80

120

1.5

MOTOMAN MH6S, MH6S-10 Technical Data


R453

R997

170°

R285

170°

136

4 x Ø 18

102±0.1

153±0.1

153±

0.1

130±

0.1

100±0.1

300

292

260

102±

0.1

132±

0.1

60

132±0.1240

300

260

6 0

Ø 12 H7

2 x Ø16 H7

0

197

128

1297

150 520

1580

373

305

488

450

155

133°

130°

80°

692

0 317

453

370

997

256

300

450

658

0

95

165°


P

A

B

CS

L

B

TR

U

D

6

6

Ø 2

5 H

7

Ø 5

0 H

6

45°

PCD Ø 40

4 x M6, depth 9 mm

Ø 6 H7, depth 6 mm

1 x Air

Internal user wiring connectorMedia conncector

All dimensions in mm | Technical data may be subject to change without previous notice | Please request detailed drawings at [email protected] – YR-MH00006S-B00, YR-MH0000S-B30, C-07-2012, A-Nr. 150262

View A

View B

View C



Wei

ght W

2 (k

g)

20

15

10

5

04003002000 100–200 –100

W1=0 kg

W1=6 kgW1=3 kg

100

238167 300200

W=6kg

W=3kg

LB (mm)

LT (m

m)

100

141

200

B-, T-axiscenter of rotation


P-point









Arc Welding with the VA-series

The MOTOMAN VA1400, is a seven-axis arc-welding robot and offers superior performancein spot welding, handling, machine tending andassembly. It has torch cables built into the robotarm to eliminate interference with the workpiece, jig or other nearby robots. Also, the powercable and gas and air hoses can be accommo- dated to the base. Several robots can be installedin close proximity without interfering with eachother, which will allow construction of a highlyeffective and space-saving welding cell. Further-more, installation space can be minimized asthis new robot allows highly dense positioningbetween units. The innovation of the 7th axis hasdramatically increased the freedom of the robot’smovement. By keeping the optimal posture forwelding at all times, the VA1400 has achieved the highest welding quality. The highest performance of its class, including the world’s fastestmotion, high repeatability of +/–0,08 mm and amaximum reach of 1,434 mm, greatly increasesproductivity.

MOTOMAN VA1400Shielded arc welding

Key benefits

� Controlled axes: 7

� Max. payload of 3 kg

� Repeatability of +/–0,08 mm

� Max. working range of 1,434 mm

� High flexibility in it’s working area

� Space saving with high-density cell layout

� Conception of compact production lines are possible

� Integrated cables

� Less interference contours

� Further improvement of welding quality with 7th axis for ideal posture

� Increase productivity with highest performance

Specifications VA1400

AxesMaximum

motion range[ º ]

Maximumspeed

[ º /sec.]

Allowablemoment

[ Nm]


S

L

U

R

B

T

E

±170

+148/–70

+150/–175

±150

+180/–45

±200

±90

220

200

220

410

410

610

220

–

–

–

8.8

8.8

2.9

–

–

–

–

0.27

0.27

0.03

–

Controlled axes

Max. payload [kg]



Temperature [º C]

Humidity [%]

Weight [kg]


7

3

±0.08

R = 1434

0 to +45

20 – 80

150

1.5

MOTOMAN VA1400 Technical Data

60

132±0.1

153±0.1

102±0.1

300

100±0.1

130±

0.1

132±

0.1

102±

0.1

260

300

153

240

604 x Ø 18

292

260

2 x

Ø 1

6 H

7

1 x Ø 12 H7


2 x Air



199

199

155

2 x M6, depth 14 mm

36

R1434R458170°

170° R270

7075

Ø 42

C

A

B

150°

150 640 30

1734

288

745Ø 100

741

325

014

4 0

458

1434

122

1081

450

78 200

2475

614

200

84110

70°

148°

80°

175˚

B

T

R

U

S

LE


P

5

6


Ø 9

0

Ø 4

2

Ø 4

2 H

7

6 x M4, depth 10 mm

30°

PCD 56

6 H7, depth 6 mm

View A

View B

View C

All dimensions in mm | Technical data may be subject to change without previous notice | Please request detailed drawings [email protected] – YR-VA01400-B00, D-07-2011, A-No. 150296

W=3 kg

200

100

300 400200100

200

LT (m

m)



P-point









High Precision Applications with the MC2000

The “Master Cut” MOTOMAN MC2000 is ahigh speed 6 axis robot. It is designed withhigh rigidity and precision drives to providesuperior path accuracy for laser cuttingsmall holes and sharp corners. Its pathaccuracy can be with 0.1 mm depending onthe application. The slim base, waist andarm allow robot to be placed close to workpiece holding fixtures to improve partaccessibility.Compact design and advanced collisionavoidance features with multiple robotcontrol allow up to eight robots (72 axes) tobe used together to maximize productivitywhile minimising floor space requirements.This outstanding robot is controlled fromthe high performance DX100 controller.

MOTOMAN MC2000Laser welding, material cutting, dispensing

Key benefits

Higher payload for RemoteLaser Welding head or higherpath accuracy when usingwelding or cutting laser head

Typical path accuracies of0.1 to 0.3 mm depending onapplication

Compact design reduces floorspace and allows good access towork piece

Specifications MC200

AxesMaximum

motion range[ º ]

Maximumspeed

[ º /sec.]

Allowablemoment

[ Nm]


S

L

U

R

B

T

± 180

+135/–60

+235/–157

± 360

±125

± 360

150

150

150

250

250

250

–

–

–

110

110

55

–

–

–

7

7

1

Controlled axes

Max. payload [kg]



Temperature [º C]

Humidity [%]

Weight [kg]


6

50

± 0.07

R = 3164

0 to +45

20 – 80

845

3.5

MOTOMAN MC2000 Technical Data

Headquarters YASKAWA Europe GmbHRobotics Yaskawastraß e 1Division D-85391 Allershausen

Tel. 0049- 81 66- 90- 0Fax 0049- 81 66- 90- [email protected]

YASKAWA Academy YASKAWA Europe GmbHand sales office Robotics DivisionFrankfurt Hauptstraß e 185

D-65760 EschbornTel. 0049- 61 96- 777 25-0Fax 0049- 61 96- 777 [email protected]

MOUNT PERIPHERALEQUIPMENT WITHINTHIS RANGE INTERNAL USER WIRING CONNECTOR

JL05-2A24-28PC (WITH CAP) MATCHINGCONNECTOR JL05-2A24-28SNOT SUPPLIED

VIEW B VIEW C

6

42

40Ø100Ø50

10

Ø80 P.C.D.Ø6 X 10 DP

Ø8 X 14 DP 6X M8X1.25 X 14 DP

AIR INLET RC3/8

6

680

870

250

A

C

B

D

330 800 175

1997

1103

368 290

368 203

1368

304

2038

776

2388

P-POINT

INTERNAL USER WIRING CONNECTORJL05-2A24-28SC (WITH CAP) MATCHINGCONNECTOR JL05-2A24-28PNOT SUPPLIED

AIR EXHAUST RC3/8

R778

R2038

180°

180°

2X Ø20±0.1 THRU

VIEW A

320420500

340450

185 250

420230

500

230 345

185

8X Ø22 THRU

4X M8X1.25 X 16 DP

VIEW DDETAILS IN INSTALLATION

AND TAP PART

50

50 120

12211.5

180

10

20

All dimensions in mm | Technical data may be subject to changewithout previous notice | Please request detailed drawings [email protected]






Catalogue of MOTOMAN robots - docs.yaskawa.eudocs.yaskawa.eu/Related robots arc welding...

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Transcript of Catalogue of MOTOMAN robots - docs.yaskawa.eudocs.yaskawa.eu/Related robots arc welding...