MOTOMAN-MH and HP Series

Transcription

1 YASKAWA Multi-Purpose Robot MOTOMAN-MH and HP Series Certified for ISO91 and ISO141 C E R T I F M A N A GE ME N T I E D SYSTE M C E R T I F M A N A GE ME N T I E D SYSTE M QMS Accreditation R9 QUALITY SYSTEM JQA-81 ENVIRONMENTAL SYSTEM JQA-EM94

2 Total Solutions to Achieve Short Processing The Highest Potential in the World! A complete lineup to help build optimum facilities. Save Space Energy The slimmer structure, new features, and high performance enable you to downsize production facilities and save energy. Hardware Manipulator est Performance in its class The 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 Environments The Waterproof, dustproof structure (Standard protection class IP7) for the wrist section enables robot application in environments subject to water drops and dust without a jacket. DX1 Controller Installation space for the control panel is reduced by 4%. 1 kg max. A slim design with a control panel width of only 45 mm reduces the installation space by up to 4%. Up to 7 axes (8 robots) can be controlled by installing the additional OX. : Compared to conventional large-sized controllers Line-up of Multi-purpose Robot 5 1 Payload MH5 Maximum reach Payload (kg) Applications 1 kg R1717 mm Handling, machine tending, arc welding, etc. HPD 1 5 kg R1 mm Handling, machine tending, spot welding, etc kg R7 mm Handling of small workpieces, assembly, and arc welding MH5 MH5L 1 5 kg R895 mm Handling of small workpieces, assembly, and arc welding MH Maximum reach (mm) 1 kg R14 mm Handling, assembly, and arc welding : Loading and unloading for NC machine tools, diecasting, bending, injection molding presses, etc.

3 Short processing 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. New robot solutions Slimmer design enables closer mounting. Smaller Controller saves space. Multiple Robot Controller prevents robots from collisions. Installation space reduced by safety function (restricting the range of Robot operation). Short process Shorter production lines. Reduced number of processes. Customer advantages Highly efficient production. etter quality. Saving energy. Software No Deviation from Track at Emergency Stop The Robot stops on the taught path at emergency stop and will not deviate from the path when restarting, preventing interference of the Robot with nearby obstacles. Operating direction Emergency stop position No path errors even at restart. Interference Checking Function Optional Playback path confirmation Points taught to the Robot can be played back at low speed in test operation to confirm if there is any interference with workpieces or jigs. This enables teaching the optimum path in minimal time. Teaching point Teaching point Teaching point 1 Playback path confirmation at low speed Teaching point 4 Teaching point 5 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 between Robots caused by programming mistakes.) Constantly checks the interference between the robot arm and up to 1 defined cubes to prevent the robot to collide with workpieces or peripheral jigs. (See the figure at right for reference.) (Under Development) Cube interference zone Cube interference zone Minimized Safety Fences Optional Saving Energy Software that is certified for Safety Category provides redundant restrictions to the range of Robot operation. This enables installing a safety fence only in the minimum area required for work. (Under Development) Safety fences can be limited to only a minimum area to downsize production facilities. Zone limit switches can be eliminated for Robots in setting process. Safety Fences Previous safety fence Minimized safety fence The servos are turned OFF automatically when the Robot is stopped for a long period of time. Reduced power consumption helps lower running costs. Conditions Twenty-four-hour operation in which the Robot is operating for 1 hours and on standby for 8 hours Robot operation control On standby until next command Operating status Motor outputs rake Timer Motor outputs are shut off and brakes applied while the Robot is on standby. rakes are applied at a fixed time intervals after the standby status starts. Energy savings: Approx.5%

4 Total Solutions to Achieve Short Processing Easy Operation Simulation Operability of teaching and simulation have been improved to reduce time required for system startup. Multi-window Display Function MotoSimEG-VRC Simulator Optional Program operation can be checked while monitoring I/O or variables on the programming pendant so that teaching and trial operation efficiency will increase. 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. Quick Maintenance Troubleshooting MOTOMAN continually strives to improve monitoring, troubleshooting, and structures to reduce maintenance and recovery time from failures. Speed Reducer Life Diagnosis Function Optional 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. Troubleshooting When an alarm occurs, the detail, cause, and countermeasure of the error are displayed on the Programming Pendant to provide measures for troubleshooting. Error Cause Countermeasure Reduced Replacement Time for Parts We have reduced the time required to replace Controller parts to shorten recovery time when troubles do occur. (Required time for replacement: from 1 to 8 minutes: reduced by %) The encoder can be replaced with standard tools since it employs a unit style and thus the required time for replacement is reduced. An optional zeroing function can be used to accurately and quickly reset the home position after replacing the motor or encoder. 4

5 MOTOMAN-MH5 5 kg payload, R7 mm maximum reach Dimensions Units : mm 7 87 : P-point Maximum Envelope 17 Tapped holes M8 (depth: 1) (pitch: P1.5)(4 holes) (fitting depth) Tapped holes M5 (depth: 9) (pitch:.8)(4 holes) P.C.D R5 R (fitting depth) dia. +.1/ 4 dia. /.1 View A φ 5H7 dia. holes (depth: 7) Air inlet Tapped hole PT1/4 (with pipe plug) C 5 L 51 S U 4 R 15 1 A T P-Point Reserved Cable Connector HR1A-1R-1P Matching connector type is HR-1A-1P-1S HIROSE 14 View dia. holes (4 holes) 15 1±.5 1C C 1 4C 194 1±.5 AIR1 C AIR View C Manipulator Specifications Model Type Controlled Axis Payload Repeatability 1 Range of Motion Maximum Speed U -axis (upper arm) U -axis (upper arm) MOTOMAN-MH5 YR-MH5- (ALL-AXIS REAKE TYPE) (Vertically articulated) 5 kg ±. mm ± to to 1 ±19 ±15 ±.5 rad/s, 7 /s.11 rad/s, 5 /s.98 rad/s, 4 /s 7.85 rad/s, 45 /s 7.85 rad/s, 45 /s 1.57 rad/s, 7 /s Moment Inertia (GD /4) Conditions Humidity Vibration Others Power Requirements 1 Nm 1 Nm 7 Nm. kgm. kgm.1 kgm 8 kg C to +45 C to 8%RH (non-condensing) 4.9 m/s or less Free from corrosive gasses or liquids, or explosive gasses Clean and dry Free from excessive electrical noise (plasma) 1 kva 1 : Conforms to JIS 84. : Varies in accordance with applications and motion patterns. Note : SI units are used for specifications. 5

6 MOTOMAN-MH5L 5 kg payload, R895 mm maximum reach Dimensions Units : mm : P-point Maximum Envelope Tapped holes M8 (depth: 1) (pitch: P1.5)(4 holes) 5 (fitting depth) Tapped holes M5 (depth: 9) (pitch:.8)(4 holes) P.C.D R (fitting depth) dia. +.1/ 4 dia. /.1 φ 5H7 dia. holes (depth: 7) 17 R895 View A -Air inlet Tapped hole PT1/4 (with pipe plug) C 4C AIR1 AIR L U R 8.5 A T P-Point 88 5 Reserved Cable Connector HR1A-1R-1P Matching connector type is HR-1A-1P-1S HIROSE View 1C C 15 S C ± dia. holes (4 holes) 15 1±.5 View C Manipulator Specifications Model Type Controlled Axis Payload Repeatability 1 Range of U -axis (upper arm) Motion Maximum U -axis (upper arm) Speed MOTOMAN-MH5L YR-MH5L- (ALL-AXIS REAKE TYPE) (Vertically articulated) 5 kg ±. mm ± to to 18 ±19 ±15 ± 4.71 rad/s, 7 /s 4.89 rad/s, 8 /s 5.4 rad/s, /s 7.85 rad/s, 45 /s 7.85 rad/s, 45 /s 1.57 rad/s, 7 /s Moment Inertia (GD /4) Conditions Humidity Vibration Others Power Requirements 1 Nm 1 Nm 7 Nm. kgm. kgm.1 kgm kg C to +45 C to 8%RH (non-condensing) 4.9 m/s or less Free from corrosive gasses or liquids, or explosive gasses Clean and dry Free from excessive electrical noise (plasma) 1 kva 1 : Conforms to JIS 84. : Varies in accordance with applications and motion patterns. Note : SI units are used for specifications.

7 1C C C MOTOMAN-MH kg payload, R14 mm maximum reach Dimensions Units : mm : P-point Maximum Envelope 17 R81 R14 45 Tapped holes M (4 holes) Depth: dia. P.C.D.4 17 R dia. +.1 dia. (1 hole), Depth: View A Air inlet PT/8 with pipe plug(a) Air inlet PT/8 with pipe plug () 17 Welding power source s terminal board R 95 A Internal user wiring connector type is JL5-A-9PC (with cap) Matching connector type is JL5-A-9S (provided users) C L S U T P-Point dia. through holes, (1 hole) dia. through holes, (1 hole) 1±.1 View 1±.1 1± dia. through holes, ( holes) 1±.1 15±.1 1±.1 1±.1 15± View C Manipulator Specifications Model Type Controlled Axis Payload Repeatability 1 Range of U -axis (upper arm) Motion Maximum U -axis (upper arm) Speed MOTOMAN-MH YR-MH-A (Vertically articulated) kg ±.8 mm ± to 9 +5 to 175 ±18 +5 to 45 ±.84 rad/s, /s.49 rad/s, /s.84 rad/s, /s 7.1 rad/s, 41 /s 7.1 rad/s, 41 /s 1.5 rad/s, 1 /s Moment Inertia (GD /4) Conditions Humidity Vibration Others Power Requirements 11.8 Nm 9.8 Nm 5.9 Nm.7 kgm.7 kgm. kgm 1 kg C to +45 C to 8%RH (non-condensing) 4.9 m/s or less Free from corrosive gasses or liquids, or explosive gasses Clean and dry Free from excessive electrical noise (plasma) 1.5 kva 1 : Conforms to JIS 84. : Varies in accordance with applications and motion patterns. Note : SI units are used for specifications. 7

8 C 1C C MOTOMAN-HPD kg payload, R1717 mm maximum reach Dimensions Units : mm : P-point Maximum Envelope 18 R1717 Tapped holes M Depth: 1 (4 holes) dia. P.C.D.4 R41 R dia. +.1 View A dia. Depth: Air inlet PT/8 with pipe plug U 81 R T 15 A Internal user wiring connector type is JL5-A-9PC (with cap) Matching connector type is JL5-A-9S (provided by users) C L S 155 P-Point ± dia. View 75 5 ± dia ±.1 ± View C 8 Manipulator Specifications Model Type Controlled Axis Payload Repeatability 1 Range of U -axis (upper arm) Motion Maximum U -axis (upper arm) Speed MOTOMAN-HPD YR-HPD-A (Vertically articulated) kg ±. mm ± to to 15 ± + to 5 ±.44 rad/s, 197 /s.5 rad/s, 175 /s. rad/s, 187 /s.98 rad/s, 4 /s.98 rad/s, 4 /s 1.47 rad/s, /s Moment Inertia (GD /4) Conditions Humidity Vibration Others Power Requirements 9. Nm 9. Nm 19. Nm 1.5 kgm 1.5 kgm.75 kgm 8 kg C to +45 C to 8%RH (non-condensing) 4.9 m/s or less Free from corrosive gasses or liquids, or explosive gasses Clean and dry Free from excessive electrical noise (plasma). kva 1 : Conforms to JIS 84. : Varies in accordance with applications and motion patterns. Note : SI units are used for specifications.

9 MOTOMAN-MH5 5 kg payload, R1 mm maximum reach Dimensions Units : mm : P-point Maximum Envelope R R54 Tapped holes M8 (4 holes), Depth: 1, Pitch: R1 Tapped holes M8 (4 holes), Depth: 1, Pitch: dia. 1. dia. 4 4 P.C.D.8 1 (STANDARD) 8 (ZEROING) Tapped holes M8 ( holes), Depth: 14, Pitch: dia. (1 hole), Depth: dia. (1 hole) Depth: 1 View A Air inlet PT/8 with pipe plug Internal user wiring connector type is JL5-A4-8SC (with cap) Matching connector type is JL5-A4-8P (provided by users) Air exhaust PT/8 with pipe plug L U S C R 17 A P-Point T Tapped holes M1 (4 holes), Depth:, Pitch: Internal user wiring connector type is JL5-A4-8PC (with cap) Matching connector type is JL5-A4-8S (provided by users) ±.1 ± ±.1 15 View 195± dia. through holes, ( holes) ±.1 dia. through holes, (8 holes) ± View C Manipulator Specifications Model Type Controlled Axis Payload Repeatability 1 Range of U -axis (upper arm) Motion Maximum U -axis (upper arm) Speed MOTOMAN-MH5 YR-MH5-A (Vertically articulated) 5 kg ±.7 mm ± to to 17 ± ±15 ±.14 rad/s, 18 /s.11 rad/s, 178 /s.11 rad/s, 178 /s 4. rad/s, 5 /s 4. rad/s, 5 /s.8 rad/s, /s Moment Inertia (GD /4) Conditions Humidity Vibration Others Power Requirements 1 Nm 1 Nm 147 Nm 8 kgm 8 kgm 11 kgm 55 kg C to +45 C to 8%RH (non-condensing) 4.9 m/s or less Free from corrosive gasses or liquids, or explosive gasses Clean and dry Free from excessive electrical noise (plasma) 4. kva 1 : Conforms to JIS 84. : Varies in accordance with applications and motion patterns. Note : SI units are used for specifications. 9

10 MOTOMAN-MH and HP Series DX1 Controller Specifications Items Configuration Dimensions Cooling System Relative Humidity Power Supply Grounding Digital l/os Positioning System Programming Capacity Expansion Slots LAN (Connection to Host) Interface Control Method Drive Units Painting Color Specifications Dust proof 45(W) 45(D) 1(H) mm Small Robots : Possible to control three external axes Large Robots : Possible to control two external axes 1 kg max. Indirect cooling During operation : C to +45 C During storage : 1 C to + C 9% max. (non-condensing) Three-phase / VAC (+1% to 15%), Hz (±%)(Japan) Three-phase VAC (+1% to 15%), 5 Hz (±%)(Japan) Grounding resistance : 1 Ω or less Specialized signals : inputs and 5 outputs General signals : 4 inputs and 4 outputs Max. I/O (optional) : 48 inputs and 48 outputs y serial encoder JO :, steps, 1, instructions CIO ladder :, steps PCI : slots for main CPUs and 1 slot for servo CPU 1 additional slot for sensor board 1 (1ASE-T/1ASE-TX) RS-C : 1ch Software servo control Standard axes and additional single-axis amplifiers can be mounted (8 axes max.) Munsell notation 5Y7/1 (reference value) : Small Robots : MOTOMAN MH5, MH5L, MH, and HPD. Large Robots : MOTOMAN MH5. Programming Pendant Specifications Items Dimensions Material Operation Device Display IEC Protection Class Cable Length Specifications 19(W) 14.5(H) 5(D) mm.98 kg Reinforced plastics Select 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.), US port (1 port) 4 48 pixels color LCD, touch panel (Alphanumeric characters, Chinese characters, Japanese letters, Others) IP5 Standard : 8 m, Max. : m (optional) Sales Department HEAD OFFICE -1 Kurosaki-Shiroishi, Yahatanishi-ku, Kitakyushu, Fukuoka 8-4, Japan Phone: Fax: MOTOMAN INC. HEADQUARTERS 85 Liberty Lane, West Carrollton, OH 45449, U.S.A. Phone: Fax: MOTOMAN ROOTICS EUROPE A Franska Vagen 1, ox 44, 9 4 Kalmar, Sweden Phone: Fax: MOTOMAN ROOTEC GmbH Kammerfeldstrasse 1, 8591 Allershausen, Germany Phone: Fax: YASKAWA ELECTRIC KOREA CORPORATION 1787, Sangyeok- Dong, uk-ku, Daegu, Korea Phone: Fax: YASKAWA ELECTRIC (SINGAPORE) PTE. LTD. 151 Lorong Chuan, #4-1, New Tech Park, Singapore Phone: Fax: YASKAWA ELECTRIC (MALAYSIA) SDN, HD. Unit 47-1&, Jalan PJU 5/9, Dataran Sunway, Kota Damansara, 4781, Petaling Jaya Selangor, D.E.Malaysia Phone: Fax: YASKAWA ELECTRIC (THAILAND) CO., LTD. 5/4, 4th Floor. Muang Thai-Phatra office Tower ll Rachadapisek Road, Huaykwang angkok, 1, Thailand Phone: Fax: SHOUGANG MOTOMAN ROOT CO., LTD. No.7 Yongchang-North Road, eijing Economic and Technological Development Area, eijing 117, China Phone: Fax: MOTOMAN MOTHERSON ROOTICS LTD. Plot Number , First Floor, IMT Manesar-Sector 4, Gurgaon(Haryana) PIN-15, India Phone: Fax: YASKAWA 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. 9 YASKAWA ELECTRIC CORPORATION. All rights reserved. LITERATURE NO. KAEP C9444 A Published in Japan April Printed on 1% recycled paper with soybean oil ink.