MOTOMAN Series Product Catalog

Transcription

1 Industrial Robot MOTOMAN Series Product Catalog Certified for ISO9001 and ISO14001 QMS Accreditation R009 JQA-0813 JQA-EM0924 2

2 Arc Welding Laser Applications MOTOMAN-VA1400 MOTOMAN-MA1400 MOTOMAN-MA1800 MOTOMAN-MA1900 MOTOMAN-MC2000 Application Arc Welding Laser Applications MOTOMAN- VA1400 MA1400 MA1800 MA1900 MC2000 Mounting 1 F, W, C F, W, C F, W, C F, W, C F Controlled Axis Payload 3kg 3kg 15kg 3kg 50kg 4 Vertical Reach 2475 mm 2511 mm 3243 mm 3437 mm 3161 mm Horizontal Reach 1434 mm 1434 mm 1807 mm 1904 mm 2038 mm Repeatability 2 ±0.08 mm ±0.08 mm ±0.08 mm ±0.08 mm ±0.07 mm S-axis (Turning) Range of Motion Maximum Speed Inertia (GD 2 /4) L-axis (Lower Arm) E-axis (Elbow) U-axis (Upper Arm) R-axis (Wrist Roll) B-axis (Wrist Pitch/Yaw) T-axis (Wrist Twist) S-axis (Turning) 220/s 220/s 195/s 197/s 150/s L-axis (Lower Arm) 200/s 200/s 175/s 175/s 150/s E-axis (Elbow) 220/s U-axis (Upper Arm) 220/s 220/s 190/s 185/s 150/s R-axis (Wrist Roll) 410/s 410/s 380/s 410/s 250/s B-axis (Wrist Pitch/Yaw) 410/s 410/s 340/s 410/s 250/s T-axis (Wrist Twist) 610/s 610/s 560/s 610/s 250/s R-axis (Wrist Roll) 8.8Nm 8.8Nm 38.6Nm 8.8Nm 110Nm B-axis (Wrist Pitch/Yaw) 8.8Nm 8.8Nm 38.6Nm 8.8Nm 110Nm T-axis (Wrist Twist) 2.9Nm 2.9Nm 7.35Nm 2.9Nm 55Nm R-axis (Wrist Roll) 0.27kgm kgm kgm kgm 2 7.0kgm 2 B-axis (Wrist Pitch/Yaw) 0.27kgm kgm kgm kgm 2 7.0kgm 2 T-axis (Wrist Twist) 0.03kgm kgm kgm kgm 2 1.0kgm 2 Mass 150kg 130kg 380kg 280kg 845kg Power Requirements 3 1.5kVA 1.5kVA 2.5kVA 2.0kVA 3.5kVA 1 : F=Floor, W=Wall, C=Ceiling, S=Shelf (Note : S-axis motion is limited when mounted on the wall.) 4 : In the case of the high accuracy type, 30 kg or less is recommended. 2

3 Spot Welding MOTOMAN-VS50 MOTOMAN-MS80W MOTOMAN-MS120 MOTOMAN-ES165D MOTOMAN-ES165RD MOTOMAN-ES200D MOTOMAN-ES280D-230 MOTOMAN-ES200RD Application Spot Welding MOTOMAN- VS50 MS80W MS120 ES165D ES165RD ES200D ES200RD ES280D-230 Mounting 1 F F F F S F S F Controlled Axis Payload 50kg 80kg 4 120kg 165kg 4 165kg 4 200kg 4 200kg 4 230kg Vertical Reach 2597 mm 3751 mm 2163 mm 3372 mm 4782 mm 3372 mm 4782 mm 3372 mm Horizontal Reach 1630 mm 2236 mm 1623 mm 2651 mm 3140 mm 2651 mm 3140 mm 2651 mm Repeatability 2 ±0.1 mm ±0.07 mm ±0.2 mm ±0.2 mm ±0.2 mm 0.2 mm ±0.2 mm ±0.2 mm S-axis (Turning) Range of Motion Maximum Speed Inertia (GD 2 /4) L-axis (Lower Arm) E-axis (Elbow) U-axis (Upper Arm) R-axis (Wrist Roll) B-axis (Wrist Pitch/Yaw) T-axis (Wrist Twist) S-axis (Turning) 170/s 170/s 130/s 110/s 105/s 95/s 90/s 4 80/s L-axis (Lower Arm) 130/s 140/s 110/s 110/s 105/s 90/s 85/s 4 70/s E-axis (Elbow) 130/s U-axis (Upper Arm) 130/s 160/s 130/s 110/s 105/s 95/s 85/s 4 80/s R-axis (Wrist Roll) 130/s 230/s 215/s 175/s 175/s 120/s 120/s 115/s B-axis (Wrist Pitch/Yaw) 130/s 230/s 180/s 150/s 150/s 120/s 120/s 110/s T-axis (Wrist Twist) 200/s 350/s 300/s 240/s 240/s 190/s 190/s 190/s R-axis (Wrist Roll) 377Nm 392Nm 4 588Nm 921Nm 4 921Nm Nm Nm Nm B-axis (Wrist Pitch/Yaw) 377Nm 392Nm 4 588Nm 921Nm 4 921Nm Nm Nm Nm T-axis (Wrist Twist) 147Nm 196Nm 4 392Nm 490Nm 490Nm 715Nm 715Nm 706Nm R-axis (Wrist Roll) 29.6kgm 2 28kgm kgm 2 85kgm kgm kgm kgm kgm 2 B-axis (Wrist Pitch/Yaw) 29.6kgm 2 28kgm kgm 2 85kgm kgm kgm kgm kgm 2 T-axis (Wrist Twist) 12.5kgm 2 11kgm kgm 2 45kgm 2 45kgm 2 80kgm 2 80kgm 2 79kgm 2 Mass 640kg 580kg 950kg 1100kg 1730kg 1130kg 1800kg 1130kg Power Requirements 3 5.0kVA 4.0kVA 4.5kVA 5.0kVA 5.0kVA 5.0kVA 5.0kVA 10kVA 1 : F=Floor, W=Wall, C=Ceiling, S=Shelf (Note : S-axis motion is limited when mounted on the wall.) 4 : When not used with an external cable. 3

4 Handling MOTOMAN-MHJ MOTOMAN-MH3F MOTOMAN-MH5S/F MOTOMAN-MH5LS/F MOTOMAN-MH6/F MOTOMAN-MH6S 8 MOTOMAN-HP20D/F MOTOMAN-HP20D-6 MOTOMAN-MH50 MOTOMAN-MH50-20 Application Material Handling (General purpose) MH5S MH5LS MH6 MH6S HP20D HP20D-6 MH50 MH50-20 MOTOMAN- 4 MHJ MH3F MH5F MH5LF MH6F HP20F Mounting 1 F, W, C F, W, C F, W, C F, W, C F, W, C F, W, C F, W, C F, W, C F, W, C F, W, C Controlled Axis Payload 1kg (Max: 2kg 5 ) 3kg 5kg 5kg 6kg 6kg 20kg 6kg 50kg 20kg Vertical Reach 909 mm 804 mm 1193 mm 1560 mm 2486 mm 1597 mm 3063 mm 3459 mm 3578 mm 5585 mm Horizontal Reach 545 mm 532 mm 706 mm 895 mm 1422 mm 997 mm 1717 mm 1915 mm 2061 mm 3106 mm Repeatability 2 ±0.03 mm ±0.03 mm ±0.02 mm ±0.03 mm ±0.08 mm ±0.08 mm ±0.06 mm ±0.06 mm ±0.07 mm ±0.15 mm S-axis (Turning) Range of Motion Maximum Speed Inertia (GD 2 /4) L-axis (Lower Arm) U-axis (Upper Arm) R-axis (Wrist Roll) B-axis (Wrist Pitch/Yaw) T-axis (Wrist Twist) S-axis (Turning) 160 /s 200/s 376/s 270/s 220/s 220/s 197/s 197/s 180/s 180/s L-axis (Lower Arm) 130 /s 150/s 350/s 280/s 200/s 220/s 175/s 175/s 178/s 178/s U-axis (Upper Arm) 200 /s 190/s 400/s 300/s 220/s 220/s 205/s 187/s 178/s 178/s R-axis (Wrist Roll) 300 /s 300/s 450/s 450/s 410/s 410/s 400/s 400/s 250/s 400/s B-axis (Wrist Pitch/Yaw) 400 /s 300/s 450/s 450/s 410/s 410/s 400/s 400/s 250/s 400/s T-axis (Wrist Twist) 500 /s 420/s 720/s 720/s 610/s 610/s 600/s 600/s 360/s 600/s R-axis (Wrist Roll) 3.33Nm 5.39Nm 12Nm 12Nm 11.8Nm 11.8Nm 39.2Nm 11.8Nm 216Nm 39.2Nm B-axis (Wrist Pitch/Yaw) 3.33Nm 5.39Nm 12Nm 12Nm 9.8Nm 9.8Nm 39.2Nm 9.8Nm 216Nm 39.2Nm T-axis (Wrist Twist) 0.98Nm 2.94Nm 7Nm 7Nm 5.9Nm 5.9Nm 19.6Nm 5.9Nm 147Nm 19.6Nm R-axis (Wrist Roll) 0.058kgm 2 0.1kgm kgm kgm kgm kgm kgm kgm 2 28kgm kgm 2 B-axis (Wrist Pitch/Yaw) 0.058kgm 2 0.1kgm kgm kgm kgm kgm kgm kgm 2 28kgm kgm 2 T-axis (Wrist Twist) 0.005kgm kgm 2 0.1kgm 2 0.1kgm kgm kgm kgm kgm 2 11kgm kgm 2 Mass 15kg 27kg 27kg 29kg 130kg 120kg 268kg 273kg 550kg 495kg Power Requirements 3 0.5kVA 0.5kVA 1.0kVA 1.0kVA 1.5kVA 6 1.5kVA 2.0kVA 7 2.0kVA 4.0kVA 3.5kVA 1 : F=Floor, W=Wall, C=Ceiling, S=Shelf (Note : S-axis motion is limited when mounted on the wall.) 4 : Only for handling. 5 : If more than 1 kg, range of motion is different. Please use within range of motion for payload. 6 : 1.0kVA when using a controller. 7 : 1.5kVA when using a controller. 8 : The P-point cannot reach the shaded area when the S-axis is between 40and

5 MOTOMAN-MH80 MOTOMAN-MH165 MOTOMAN-MH200 MOTOMAN-MH215 MOTOMAN-MH250 MOTOMAN-UP350D MOTOMAN-UP350D-500 MOTOMAN-UP350D-600 MOTOMAN-UP400RD Application Material Handling (General purpose) MOTOMAN- MH80 MH165 MH200 MH215 MH250 UP350D UP400RD UP350D-500 UP350D-600 Mounting 1 F, W, C F F F F F S F F Controlled Axis Payload 80kg 165kg 4 200kg 4 215kg 250kg 350kg 400kg 500kg 600kg Vertical Reach 3578 mm 3372 mm 3372 mm 3894 mm 3490 mm 2761 mm 4908 mm 2761 mm 2761 mm Horizontal Reach 2061 mm 2651 mm 2651 mm 2912 mm 2710 mm 2542 mm 3518 mm 2542 mm 2542 mm Repeatability 2 ±0.07 mm ±0.2 mm ±0.2 mm ±0.2 mm ±0.2 mm ±0.5 mm ±0.5 mm ±0.5 mm ±0.5 mm S-axis (Turning) Range of Motion Maximum Speed Inertia (GD 2 /4) L-axis (Lower Arm) U-axis (Upper Arm) R-axis (Wrist Roll) B-axis (Wrist Pitch/Yaw) T-axis (Wrist Twist) S-axis (Turning) 170/s 110/s 95/s 100/s 100/s 95/s 80/s 80/s 60/s L-axis (Lower Arm) 140/s 110/s 90/s 90/s 90/s 95/s 80/s 80/s 70/s U-axis (Upper Arm) 160/s 110/s 95/s 97/s 97/s 95/s 80/s 80/s 70/s R-axis (Wrist Roll) 230/s 175/s 120/s 120/s 120/s 100/s 80/s 100/s 80/s B-axis (Wrist Pitch/Yaw) 230/s 150/s 120/s 120/s 120/s 100/s 80/s 100/s 80/s T-axis (Wrist Twist) 350/s 240/s 190/s 190/s 190/s 160/s 160/s 160/s 160/s R-axis (Wrist Roll) 392Nm 921Nm Nm Nm 1385Nm 1960Nm 1960Nm 1960Nm 2450Nm B-axis (Wrist Pitch/Yaw) 392Nm 921Nm Nm Nm 1385Nm 1960Nm 1960Nm 1960Nm 2450Nm T-axis (Wrist Twist) 196Nm 490Nm 715Nm 710Nm 735Nm 823Nm 833Nm 823Nm 823Nm R-axis (Wrist Roll) 28kgm 2 85kgm kgm kgm 2 317kgm 2 150kgm 2 150kgm 2 150kgm 2 200kgm 2 B-axis (Wrist Pitch/Yaw) 28kgm 2 85kgm kgm kgm 2 317kgm 2 150kgm 2 150kgm 2 150kgm 2 200kgm 2 T-axis (Wrist Twist) 11kgm 2 45kgm 2 80kgm 2 200kgm 2 200kgm 2 90kgm 2 50kgm 2 90kgm 2 90kgm 2 Mass 555kg 1100kg 1130kg 1140kg 1130kg 2200kg 3600kg 2350kg 2400kg Power Requirements 3 4.5kVA 5.0kVA 5.0kVA 6.0kVA 6.0kVA 5.5kVA 8.5kVA 5.5kVA 7.0kVA 1 : F=Floor, W=Wall, C=Ceiling, S=Shelf (Note : S-axis motion is limited when mounted on the wall.) 4 : When not used with an external cable. 5

6 Picking / Packing Palletizing 4 MOTOMAN-MPP3 MOTOMAN-MPK2/F MOTOMAN-MPK50 MOTOMAN-MPL80 MOTOMAN-MPL100 MOTOMAN-MPL160 MOTOMAN-MPL300 MOTOMAN-MPL500 MOTOMAN-MPL800 Application Picking / Packing Palletizing MPK2 MPK50 MPL80 MPL100 MPL160 MPL300 MPL500 MPL800 MPP3 MPK2F MOTOMAN- L MPL160 Mounting 1 C F, W, C F F F F F F F Controlled Axis Payload 3kg 2kg 50kg 80kg 100kg 160kg 300kg 500kg 800kg Vertical Reach 300 mm 1625 mm 1668 mm 3291 mm 3024 mm 3024 mm 3024 mm 3024 mm 3024 mm Horizontal Reach ϕ1300 mm 900 mm 1893 mm 2061 mm 3159 mm 3159 mm 3159 mm 3159 mm 3159 mm Repeatability 2 ±0.1 mm ±0.5 mm ±0.5 mm ±0.07 mm ±0.5 mm ±0.5 mm ±0.5 mm ±0.5 mm ±0.5 mm S-axis (Turning) L-axis (Lower Arm) Range of U-axis (Upper Arm) Motion R-axis (Wrist Roll) B-axis (Wrist Pitch/Yaw) T-axis (Wrist Twist) S-axis (Turning) 320/s 185/s 170/s 140/s 140/s 90/s 85/s 65/s L-axis (Lower Arm) 330/s 215/s 170/s 140/s 140/s 100/s 85/s 65/s Maximum U-axis (Upper Arm) 330/s 215/s 170/s 140/s 140/s 110/s 85/s 65/s Speed R-axis (Wrist Roll) B-axis (Wrist Pitch/Yaw) 380/s 170/s T-axis (Wrist Twist) 1200 /s 2000/s 374/s 350/s 305/s 305/s 195/s 195/s 125/s R-axis (Wrist Roll) B-axis (Wrist Pitch/Yaw) 3.5Nm 78.4Nm T-axis (Wrist Twist) 1.5Nm 20.5Nm R-axis (Wrist Roll) Inertia B-axis (Wrist Pitch/Yaw) 0.065kgm 2 16kgm 2 (GD 2 /4) T-axis (Wrist Twist) 0.017kgm kgm 2 5.5kgm 2 6.1kgm 2 80kgm 2 80kgm 2 140kgm 2 200kgm 2 550kgm 2 Mass 115kg 72kg 670kg 550kg 1700kg 1700kg 1820kg 2300kg 2550kg Power Requirements 3 1.5kVA 2.0kVA 4.0kVA 4.0kVA 9.5kVA 9.5kVA 9.5kVA 9.5kVA 10kVA 1 : F=Floor, W=Wall, C=Ceiling, S=Shelf (Note : S-axis motion is limited when mounted on the wall.) 4 : Recommended range of motion (ϕ1040 H300). T-axis unit may vibrate when it moves outside the recommended range of motion. 6

7 Assembly & Distributing MOTOMAN-SIA5D/F MOTOMAN-SIA10D/F MOTOMAN-SIA20D/F MOTOMAN-SIA30D MOTOMAN-SIA50D MOTOMAN-SDA5D/F MOTOMAN-SDA10D/F MOTOMAN-SDA20D/F Application Assembly & Distributing MOTOMAN- SIA5D SIA5F SIA10D SIA10F SIA20D 4 SIA20F SIA30D SIA50D SDA5D SDA5F SDA10D 4 SDA10F SDA20D SDA20F Mounting 1 F, W, C F, W, C F, W, C F F F, C F F Degrees of Freedom Payload 5kg 10kg 20kg 30kg 50kg 5kg/Arm 10kg/Arm 20kg/Arm Vertical Reach 1007 mm 1203 mm 1498 mm 2597 mm 2597 mm 1118 mm 1440 mm 1820 mm Horizontal Reach 559 mm 720 mm 910 mm 1485 mm 1630 mm 1604 mm 1970 mm 2590 mm Repeatability 2 ±0.06 mm ±0.1 mm ±0.1 mm ±0.1 mm ±0.1 mm ±0.06 mm ±0.1 mm ±0.1 mm Rotation S-axis (Turning) L-axis (Lower Arm) Range of E-axis (Elbow) Motion U-axis (Upper Arm) R-axis (Wrist Roll) B-axis (Wrist Pitch/Yaw) T-axis (Wrist Twist) Rotation 180/s 130/s 125/s S-axis (Turning) 200/s 170/s 130/s 130/s 170/s 200/s 170/s 130/s L-axis (Lower Arm) 200/s 170/s 130/s 130/s 130/s 200/s 170/s 130/s Maximum E-axis (Elbow) 200/s 170/s 170/s 130/s 130/s 200/s 170/s 170/s Speed U-axis (Upper Arm) 200/s 170/s 170/s 130/s 130/s 200/s 170/s 170/s R-axis (Wrist Roll) 200/s 200/s 200/s 170/s 130/s 200/s 200/s 200/s B-axis (Wrist Pitch/Yaw) 230/s 200/s 200/s 170/s 130/s 230/s 200/s 200/s T-axis (Wrist Twist) 350/s 400/s 400/s 200/s 200/s 350/s 400/s 400/s R-axis (Wrist Roll) 14.7Nm 31.4Nm 58.8Nm 117.6Nm 377Nm 14.7Nm 31.4Nm 58.8Nm B-axis (Wrist Pitch/Yaw) 14.7Nm 31.4Nm 58.8Nm 117.6Nm 377Nm 14.7Nm 31.4Nm 58.8Nm T-axis (Wrist Twist) 7.35Nm 19.6Nm 29.4Nm 58.8Nm 147Nm 7.35Nm 19.6Nm 29.4Nm R-axis (Wrist Roll) 0.45kgm 2 1.0kgm 2 4.0kgm 2 6.0kgm kgm kgm 2 1.0kgm 2 4.0kgm 2 Inertia B-axis (Wrist Pitch/Yaw) 0.45kgm 2 1.0kgm 2 4.0kgm 2 6.0kgm kgm kgm 2 1.0kgm 2 4.0kgm 2 (GD 2 /4) T-axis (Wrist Twist) 0.11kgm 2 0.4kgm 2 2.0kgm 2 3.0kgm kgm kgm 2 0.4kgm 2 2.0kgm 2 Mass 30kg 60kg 120kg 345kg 640kg 110kg 220kg 380kg Power Requirements 3 1.0kVA 1.5kVA 5 2.0kVA 6 2.8kVA 5.0kVA 2.0kVA 6 2.5kVA 7 4.4kVA 1 : F=Floor, W=Wall, C=Ceiling, S=Shelf 5 : 1.0kVA when using a controller. 6 : 1.5kVA when using a controller. 7 : 2.0kVA when using a controller. 4 : Robots built-in crystal sensors are also prepared. 7

8 Biomedical Press Handling MOTOMAN-MH3BM MOTOMAN-EPH130D MOTOMAN-EPH130RLD MOTOMAN-EPH4000D MOTOMAN-EP4000D Application Biomedical Press Handling EPH130D EPH130RLD EPH4000D EP4000D MOTOMAN- MH3BM Mounting 1 F, C F S S S Controlled Axis Payload 3kg 130kg 130kg 200kg 200kg Vertical Reach 804 mm 3372 mm 4151 mm 2629 mm 2629 mm Horizontal Reach 532 mm 2651 mm 3474 mm 3505 mm 3505 mm Repeatability 2 ±0.03 mm ±0.2 mm ±0.3 mm ±0.5 mm ±0.5 mm S-axis (Turning) L-axis (Lower Arm) Range of U-axis (Upper Arm) Motion R-axis (Wrist Roll) B-axis (Wrist Pitch/Yaw) T-axis (Wrist Twist) S-axis (Turning) 310/s 130/s 110/s 90/s 90/s L-axis (Lower Arm) 150/s 130/s 110/s 90/s 90/s Maximum U-axis (Upper Arm) 190/s 130/s 110/s 90/s 90/s Speed R-axis (Wrist Roll) 300/s 215/s 215/s 80/s 80/s B-axis (Wrist Pitch/Yaw) 300/s 180/s 180/s 80/s 80/s T-axis (Wrist Twist) 420/s 300/s 300/s 160/s 160/s R-axis (Wrist Roll) 5.39 Nm 735Nm 735Nm 1274Nm 1274Nm B-axis (Wrist Pitch/Yaw) 5.39 Nm 735Nm 735Nm 2156Nm 2156Nm T-axis (Wrist Twist) 2.94 Nm 421Nm 421Nm 0Nm 0Nm R-axis (Wrist Roll) 0.10kgm 2 45kgm 2 45kgm kgm kgm 2 Inertia B-axis (Wrist Pitch/Yaw) 0.10kgm 2 45kgm 2 45kgm 2 330kgm 2 330kgm 2 (GD 2 /4) T-axis (Wrist Twist) 0.03kgm 2 15kgm 2 15kgm 2 80kgm 2 80kgm 2 Mass 27kg 1495kg 1445kg 3050kg 3100kg Power Requirements 3 0.5kVA 7.5kVA 7.5kVA 22kVA 22kVA 1 : F=Floor, W=Wall, C=Ceiling, S=Shelf (Note : S-axis motion is limited when mounted on the wall.) 8

9 Painting MOTOMAN-EPX1250 MOTOMAN-EPX2050 MOTOMAN-EPX2050 (Lemma type) MOTOMAN-EPX2750 (Lemma type) Type L Type R MOTOMAN-EPX2700 MOTOMAN-EPX2800 MOTOMAN-EPX2800R MOTOMAN-EPX2900 Application Painting EPX2050 EPX2750 EPX1250 EPX2050 (Lemma type) (Lemma type) MOTOMAN- EPX2700 EPX2800 EPX2800R EPX2900 Mounting 1 F, W, C F, W F, W F W F S F Controlled Axis Payload 5kg 15kg 10kg 10kg 15kg 20kg 15kg 20kg Vertical Reach 1852 mm 2806 mm 2767 mm 3758 mm 5147 mm 4582 mm 4751 mm 4410 mm Horizontal Reach 1256 mm 2054 mm 2035 mm 2729 mm 2700 mm 2778 mm 2825 mm 2900 mm Repeatability 2 ±0.15 mm ±0.5 mm ±0.5 mm ±0.5 mm ±0.15 mm ±0.5 mm ±0.5 mm ±0.5 mm S-axis (Turning) : ( 20 ( when , +60when ( when mounted on the Without traverse mounted on the wall) mounted on the wall) axis wall) Range of L-axis (Lower Arm) Motion U-axis (Upper Arm) R-axis (Wrist Roll) B-axis (Wrist Pitch/Yaw) T-axis (Wrist Twist) S-axis (Turning) 185/s 120/s 120/s 124/s 100/s 150/s 150/s 155/s L-axis (Lower Arm) 185/s 120/s 120/s 127/s 100/s 124/s 120/s 125/s Maximum U-axis (Upper Arm) 185/s 125/s 125/s 112/s 110/s 155/s 155/s 155/s Speed R-axis (Wrist Roll) 360/s 360/s 360/s 360/s 450/s 360/s 360/s 450/s B-axis (Wrist Pitch/Yaw) 410/s 360/s 360/s 360/s 450/s 360/s 360/s 550/s T-axis (Wrist Twist) 500/s 360/s 360/s 360/s 550/s 360/s 360/s 650/s R-axis (Wrist Roll) 8.0Nm 45.8Nm 30.4Nm 30.4Nm 45.8Nm 77.4Nm 45.8Nm 72.0Nm B-axis (Wrist Pitch/Yaw) 8.0Nm 33.8Nm 19.6Nm 19.6Nm 33.8Nm 49.9Nm 33.8Nm 51.5Nm T-axis (Wrist Twist) 3.0Nm 10.8Nm 9.8Nm 9.8Nm 10.8Nm 19.6Nm 10.8Nm 19.6Nm R-axis (Wrist Roll) 0.20kgm kgm kgm kgm kgm kgm kgm kgm 2 Inertia B-axis (Wrist Pitch/Yaw) 0.20kgm kgm kgm kgm kgm kgm kgm kgm 2 (GD 2 /4) T-axis (Wrist Twist) 0.07kgm kgm kgm kgm kgm kgm kgm kgm 2 Mass 110kg 540kg 370kg 560kg 590kg 650kg 820kg 1030kg Power Requirements 3 1.5kVA 5.0kVA 5.0kVA 5.0kVA 5.0kVA 5.0kVA 5.0kVA 5.0kVA 1 : F=Floor, W=Wall, C=Ceiling, S=Shelf (Note : S-axis motion is limited when mounted on the wall.) 4 : For the range of +5to +10: the R-axis motion range is limited to 260to 65, and +60 to : For the range of 145 to 20, and +215 to +260 : the B-axis motion range is limited to 195 to (S-axis : ) (S-axis : ) (S-axis : ) 9

10 NJ2710- TYPE ERMR- -A00 POWER SUPPLY 3-PHASE AC200/220V 1-PHASE AC200/230V 50/60Hz Full Load Current Largest Load MAX. OCP Device Current Rating A Short Circuit Current Rating ka F1 F2 ON PROGRAMMING PENDANT X 8 1 CN1 AVERAGE CN210 CN211 kva A A NJ -1 THE MANIPULATOR AND CONTROLLER SHOULD HAVE SAME ORDER NUMBER. ORDER NO. NJ1530 TYPE ERMR- SERIAL No. DATE MADE IN JAPAN NJ -1 THE MANIPULATOR AND CONTROLLER SHOULD HAVE SAME ORDER NUMBER. ORDER NO. NJ1530 TYPE ERMR- SERIAL No. DATE MADE IN JAPAN NJ -1 TYPE ERMR--A00 CN1 POWER SUPPLY AVERAGE 3-PHASE AC200/220V kva 1-PHASE AC200/230V 50/60Hz Full Load Current A Interrupt Current ka Largest Load A MAX. OCP Device Current Rating A Short Circuit Current Rating ka TYPE ERMR--A00 NJ ON WARNING /HEAVY OBJECT Can cause muscle strain or back injury.use lifting aids & proper lifting techniques when removing or replacing. USE USE F F WARNING /HEAVY OBJECT Can cause muscle strain or back injury.use lifting aids & proper lifting techniques when removing or replacing. F1 F USE PROGRAMMING PENDANT X 8 1 CN210 CN210 WARNING OFF HAZARDOUS VOLTAGE Contact may cause electric shock or burn Turn off and lock out system power before servicing WARNING OFF HAZARDOUS VOLTAGE Contact may cause electric shock or burn Turn off and lock out system power before servicing CN211 CN211 CN2 CN2 s (Assembly & Distributing) Small model Small model (for single-arm robots) Small model Large model Large model (for dual-arm robots) Large model (for dual-arm robots) Standard Specifications of 1 s (Assembly & Distributing) Dimensions (W D H) Approximate Mass Small Large Small Large VA1400, MA1400, MA1900, MH5S, MH5LS, MH6, MH6S, HP20D, HP20D-6, MPK2 MA1800, MC2000, VS50, MS80W, MS120, ES165D, ES165RD, ES200D, ES200RD, ES280D-230, MH50, MH50-20, MH80, MH165, MH200, MH215 2, MH250 2, UP350D, UP400RD, UP350D-500, UP350D-600, MPK50 2, MPL80 2, MPL100 2, MPL160 2, MPL300 2, MPL500 2, SIA30D, SIA50D mm (Possible to control 3 external axes) mm (Possible to control 2 external axes) SIA5D, SIA10D, SIA20D 3 SDA5D, SDA10D 3, SDA20D mm (Possible to control 1 external axis) mm (Possible to control 1 external axis) MHJ, MH3F, MH5F, MH5LF, MH6F, HP20F, MPP3, MPK2F, SIA5F, SIA10F, SIA20F, MH3BM SDA5F, SDA10F, SDA20F mm (Possible to control 2 external axes) mm (Possible to control 1 external axis) Small 100kg 100kg 20kg Large 100kg 2 150kg 48kg 10 Programming Pendant Software IEC Protection Class IP54 IP54 IP20 Dimensions (W H D) mm mm mm Approximate Mass 0.990kg 0.990kg 0.990kg IEC Protection Class IP65 IP65 IP65 External Interface CF slot 1 USB Port (1.1) 1 CF slot 1 USB Port (1.1) 1 CF slot 1 USB Port (1.1) 1 Number of Controlled s Up to 8 manipulators Up to 8 manipulators Up to 2 manipulators Number of Controlled Axes Up to 72 axes Up to 72 axes Up to 16 axes Number of Simultaneous JOBs 4 16 JOBs 16 JOBs 6 JOBs Up to 32 groups Up to 32 groups Up to 4 groups Number of Robot Up to 8 groups (R1 to R8) Up to 8 groups (R1 to R8) Up to 2 groups (R1 to R2) Controlled Groups Base Up to 8 groups (B1 to B8) Up to 8 groups (B1 to B8) Up to 2 groups (B1 to B2) Station Up to 24 groups (S1 to S24) Up to 24 groups (S1 to S24) Up to 3 groups (S1 to S3) Capacity JOB : steps Robot command : JOB : steps Robot command : JOB : steps Robot command : 1000 CIO Ladder steps steps 1500 steps I/O System Input : 2048 (max.) System Output : 2048 (max.) System Input : 2048 (max.) System Output : 2048 (max.) System Input : 1024 (max.) System Output : 1024 (max.) Max Length of JOB Name Up to 32 digits Up to 32 digits Up to 32 digits 1 : These specifications and dimensions are for standard specifications and they are subject to change due to the optional installation. 2 : When manipulator is MH215, MH250, MPK50, MPL80, MPL100, MPL160, MPL300, and MPL500, the regenerative resistor box (120 mm in depth, 50kg) is mounted on the surface of the backside of the controller. 3 : Contact YASKAWA regarding the dimension of the controller for robot built-in crystal sensors. 4 : Max number of JOBs when independent control (option) is used. Note : Contact YASKAWA regarding the dimension of the controller for MPL800, EPH130D, EPH130RLD, EPH4000D, and EP4000D.

11 L For Painting Standard pendant model Large model Standard pendant Explosion-proof pendant L MPL160 Compatibility of L controllers with the following MOTOMAN robots planned : MH50, MH80, MH165, MH200, MH215, MH250, MPK50, MPL80, MPL100, MPL mm (Possible to control 2 external axes) Without transformer : 100kg With built-in transformer : 170kg IP20 (Option : IP40) mm 0.990kg IP65 CF slot 1 USB Port (1.1) 1 Up to 1 manipulator Up to 8 axes 6 JOBs Up to 3 groups Up to 1 group (R1) Up to 1 group (B1) Up to 2 groups (S1 to S2) JOB : steps Robot command : steps System Input : 1024 (max.) System Output : 1024 (max.) Up to 32 digits Standard Specifications of 1 s Programming Pendant Software Dimensions (W D H) Approximate Mass EPX1250, EPX2050, EPX2050 (Lemma type), EPX2750 (Lemma type), EPX2700, EPX2800, EPX2800R, EPX mm (Possible to control 3 external axes) 120kg IEC Protection Class IP41 (Option : IP54) Dimensions Standard Pendant mm (W H D) Explosion-proof Pendant mm Approximate Standard Pendant 0.990kg Mass Explosion-proof Pendant 1.25kg IEC Protection Standard Pendant IP65 Class Explosion-proof Pendant IP54 External Interface CF slot 1 Number of Controlled s Up to 4 robots Number of Controlled Axes Up to 36 axes Number of Simultaneous JOBs 2 8 JOBs Up to 16 groups Number of Robot UP to 4 groups (R1 to R4) Controlled Groups Base UP to 4 groups (B1 to B4) Station UP to 12 groups (S1 to S12) Capacity CIO Ladder I/O JOB : steps Robot command : steps (max.) System Input : 1024 (max.) System Output : 1024 (max.) Max Length of JOB Name Up to 8 digits 1 : These specifications and dimensions are for standard specifications and they are subject to change due to the optional installation. 2 : Max number of JOBs when independent control (option) is used. 11

12 MOTOMAN Series Product Catalog New MOTOMAN to achieve Short Process Vertically articulated robot with Masters technique More Versatile 7-axis vertically articulated robot offers new Value MOTOMAN-M series MOTOMAN- V series MOTOMAN-VA1400 M : M series V : V series A S H PK PL : Arc Welding : Spot Welding : Handling : Picking/Packing : Palletizing Sales Department HEAD OFFICE 2-1 Kurosaki-Shiroishi, Yahatanishi-ku, Kitakyushu, Fukuoka , Japan Phone: Fax: YASKAWA America, Inc. (Motoman Robotics Division) 100 Automation Way, Miamisburg, OH 45342, U.S.A. Phone: Fax: YASKAWA Europe GmbH (Robotics Division) Yaskawastrasse 1, 85391, Allershausen, Germany Phone: Fax: YASKAWA Nordic AB Bredbandet 1vån. 3 varvsholmen Kalmar, Sweden Phone: Fax: YASKAWA Electric (China) Co., Ltd. 12F, Carlton Bldg., No.21 HuangHe Road, HuangPu District, Shanghai , China Phone: Fax: YASKAWA SHOUGANG ROBOT CO., LTD. No.7 Yongchang North Road, Beijing E&T Development Area China Phone: Fax: YASKAWA India Private Ltd. (Robotics Division) #426, Udyog Vihar Phase-IV, Gurgaon, Haryana, India Phone: Fax: YASKAWA Electric Korea Co., Ltd 9F, Kyobo Securities Bldg., 26-4, Yeouido-dong, Yeongdeungpo-gu, Seoul , Korea Phone: Fax: YASKAWA Electric Taiwan Corporation 9F, 16, Nanking E. Rd., Sec. 3, Taipei, 104 Taiwan Phone: Fax: YASKAWA Electric (Singapore) PTE Ltd 151 Lorong Chuan, #04-02A New Tech Park, Singapore Phone: Fax: YASKAWA Electric (Thailand) Co., Ltd. 252/ th Floor, Tower B Muang Thai-Phatra Complex Building, Rachadaphisek Road, Huaykwang, Bangkok 10320, Thailand Phone: Fax: PT. YASKAWA Electric Indonesia Menara Anugrah Lantai 1, Kantor Taman E.3.3, Jl. Mega Kuningan Lot , Kawasan Mega Kuningan, Jakarta, Indonesia Phone: Fax: YASKAWA ELECTRIC CORPORATION In the event that the end user of this product is to be the military and said product is to be employed in any weapons systems or the manufacture thereof, the export will fall under the relevant regulations as stipulated in the Foreign Exchange and Foreign Trade Regulations. Therefore, be sure to follow all procedures and submit all relevant documentation according to any and all rules, regulations and laws that may apply. Specifications are subject to change without notice for ongoing product modifications and improvements YASKAWA ELECTRIC CORPORATION. All rights reserved. LITERATURE NO. KAEP C D Published in Japan April