& Palletising. Robot program

Transcription

1 Packaging & Palletising Robot program

2 Masters of Robotics, Motion and Control

3 Packaging & Palletising 3 Contents Controller FS DX Packaging & Palletising MPK-series MPK2F MPK2F MPL-series MPL80 II MPL100 II MPL160 II MPL300 II MPL800 II MPP-series MPP3H MPP3S MYS-series MYS450F MYS650LF MYS850LF... 31

4 4 Packaging & Palletising

5 Packaging & Palletising 5 MOTOMN FS100 Industrial robot controller The latest YSKW FS100 controller generation has been specially developed for the Picking and Packing sectors and for further handling applications. The development goal was Fast, safe, open, small. Real-time processing of sensor signals, reactions to camera information and other high-speed applications are thus made possible. ll in all, the FS100 thus exploits its superlative performance capabilities to the full in applications where high flexibility is required. nother modern feature is the open concept of the controller which enables users to access robot interfaces and motions externally via a PC or PLC and also to develop their own applications. Interfaces such as MOTOMNSync and MotoPlus allow the controller to function as a slave of the higher-level controller in a line; this means that it is programmed in your customary PLC language. The streamlined and compact design requires little space for installation, thereby saving valuable production space. The FS100 thus offers particular advantages for line builders. Key benefits Designed as an open controller Development of customized user applications High flexibility for variable packaging solutions Safe and fast Space-saving, streamlined and compact Energy-saving

6 6 Packaging & Palletising Motoman FS100 High performance controller FS100 for MOTOMN-Robots Programming pendant (PHG) ergonomical, light and easy 5,7 LCD colourdisplay Touch screen Windows operating system Operation keys start/stop emergency off Open Controller Connection of FS100 to the existing overall system with the YSKW software solutions MOTOMNSync MOTOPlus MOTOGSI Windows operating system dvanced Robot Motion Function (RM) Dynamic calculation of torque and loads on the robot axes Extremely high path accuracy Optimal robot motion and velocity Vibration control Highly sensitive collision detection Communication Ethernet, Web (ftp, opc) Server options and all common fieldbus systems Easy integration into existing networks Remote monitoring and diagnosis of robot systems Cursor key Flash card slot USB- Connection (reverse side) dditional benefits Multitasking (free of extra charge) Integrated PLC Highest performance due to industrial PC Boot time: max. 50 sec. MTTR (Mean Time To Repair): < 5 min. utomatic robot calibration Main axes keys dditional axes keys Control cabinet Dimensions 470 (W) x 200 (H) x 420 (D) Weight pprox. 20 kg Protection class IP20 Cooling system Indirect cooling mbient temperature 0 to +45 C (operation) 10 to +60 C (transport and storage) 3 position dead man switch (rear side not visible) Display can be individually set for each application Relative humidity Power supply Max. 90 % non-condensating 3-phase 200/220 VC at 50/60 Hz or 1-phase 200/230 VC at 50/60 Hz Easy and fast programming Several user levels from operation to maintenance Help function Digital I/O Positioning system Program memory Interface Card 1: 28 inputs/28 outputs (16 standard/12 system) (Expandable to 1024 inputs/1024 outputs) Card 2: 28 inputs/28 outputs (standard) bsolute encoder / serial interface steps, instructions and PLC steps Profibus (Slave), Ethernet IP (Master/Slave), DeviceNet (Master/Slave), CC-Link (Slave), Profinet (Master/Slave) Color nalog RL 7032

7 CP-30-HP-0 CP-30-HP-0 POWER SUPPLY 3-PHSE C200/220V 1-PHSE C200/230V Full Load Current Interrupt Current Largest Load MX. OCP Device Current Rating Short Circuit Current Rating VERGE kv 50/60Hz k k NJ PROGRMMING PENDNT CP-30-HP-0 CP-30-HP-0 NJ1529 TYPE ERMR- Drawing No. SERIL No. DTE pprox Mass YSKW ELECTRIC CORPORTION MDE IN JPN NJ3366-1! Can cause muscle strain or back injury.use lifting aids & proper lifting techniques when removing or replacing. NJ3371! OFF Turn off and lock out system power before servicing. NJ3372 Packaging & Palletising 7 Motoman FS100 Maintenance Programming pendant Functions Self-diagnosis System monitor, internal maintenance clocks (e.g. Servo power-on time) Classifies errors and major/minor alarms and displays the data Dimensions Touchscreen display Weight 169 (W) x (H) x 50 (D) 5.7 colour LCD (640 x 480 pixels) kg User alarm display larm display I/O diagnosis larm messages for peripheral devices larm messages and alarm history Simulated enable/disable outputs Coordinate system Speed adjustment Joint, Rectangular/cylindrical, Tool, User-coordinates Fine adjustment possible during operation or teach mode TCP calibration utomatic calibration of TCP (Tool Center Point) Shortcuts Direct access keys and user selectable screen keys possible Language Mostly spoken languages available (worldwide) Interface Compact Flash card slot, USB port Safety features Operating system Windows CE Specifications Collision avoidance Collision detection Dual-channel safety system (Emergency stop, safety interlock), 3-position Dead-man s switch, European safety standard (ISO10218) Collision avoidance zones and radial interference zones Monitors robot axes torque levels Programming Programming language Robot motion control INFORM III Joint motion, linear, circular, spline interpolation Machine lock Test-run peripheral device without robot motion possible Speed adjustement Joint motion (% of maximum) Interpolation (mm/sec; cm/min; inch/min) ngular velocity ( /sec) Backside FN (EV2 + EV3) CONVERTER Cooling FN (EV1) Min. 200 ir ir ir External xes Connector Back Side Connector C ir ir ir C Programming Pendant (PHG) Information Plate ir Motoman YSNC NO. ORDER NO. /HEVY OBJECT HZRDOUS VOLTGE Contact may cause electric shock or burn Circuit Protector (QF1) Warning Label Fuse (F1) LED Check Window Blind Plate Min. 150 ir Warning Label FS100 MPP3 ir ON X 8 1 Rating Name Plate (NP) Fixing Jig (Provided by USER) Min. 100 Input Power Connector (CN1) Connector For P.P. (X81) Robot Specific Input Connector

8 8 Packaging & Palletising

9 Packaging & Palletising 9 MOTOMN DX200 Industrial robot controller YSKWs new next-generation DX200 controller features robust PC architecture and system-level control for robotic work cells. Using patented multiple robot control technology, as well as I/O devices and communication protocols furthermore it provides built- in ladder logic processing including 4,096 I/O addresses, a variety of fieldbus network connections, a high-speed E-server connection and I/F panels (10) which shows the HMI on the pendant. It often eliminates the need for separate PLC and human machine interface (HMI) and delivers significant cost savings at system level, while decreasing work cell complexity and improving overall reliability. Dynamic interference zones protect the robot arm and provide advanced collision avoidance. The dvanced Robot Motion (RM) control provides high performance, best-in-class path planning and dramatically reduces teaching time. It supports coordinated motion with multiple robots or other devices. Small, lightweight Windows CE programming pendant features colour touch screen with multiple window display capability. Programming features are designed to use minimum number of keystrokes and are facilitated by new function packages and more than 120 functions. Furthermore it conserves the power consumption from 38 % 70 % depending on application and robot size. It is available with the optional Category 3 Functional Safety Unit (FSU) and allows an establishment of 32 safety units and up to 16 tools. Key benefits pplication specific function packages including more than 120 functions Optional category 3 Functional Safety Unit (FSU) High productivity Low integration costs Integrated cell control capabilities High reliability and energy efficiency Easy maintanance Simple programming Convenient compact flash slot and USB port facilitate memory backups

10 MULTI TOOL SEL ENTRY GO BCK LNGUGE 10 Packaging & Palletising Motoman DX200 High performance controller DX200 for MOTOMN-Robots Programming pendant (PHG) ergonomical, light and easy 5,7 LCD colourdisplay Touch screen Windows operating system Operation keys start/stop emergency off Multi-Robot-Synchronisation function Real time synchronisation of up to eight robots and external axes (max. 72 axes) Jigless working possible Enables high density robot layouts Reduced cycle time dvanced-robot-motion function (RM) Dynamic calculation of robot axis torque and load High performance path accuracy Optimised robot motion and speed Vibration control Highly sensitive collision detection Functional Safety Unit (FSU) Category 3 Multiple zones with inside and outside position monitoring Speed limiting and stand-still monitoring Multiple tool interference and angle checking Communication features Built-in Ethernet, Web (ftp, opc) server options and fieldbus support of the 15 most common brands on the market Easy to connect to existing networks Remote monitoring and diagnosis of robot systems Cursor key LYOUT MIN MENU COORD SIMPLE MENU DIRECT OPEN SERVO ON REDY PGE SSIST!? RE CNCEL SELECT CF-card slot USB- Connection (reverse side) Main axes keys dditional axes keys Further features Multitasking Internal SPS High performance by industrial PC Boot time max. 50 sec MTTR (Mean Time To Repair): < 10 min. utomatic zero calibration Special function packages including more than 120 functions for a wide variety of applications Control cabinet Dimensions 800 (W) x 1000 (H) x 650 (D) Weight pprox. 180 kg 3 position dead man switch (rear side not visible) Display can be individually set for applications: Handling Shielded rc Welding Spot Welding or General pplications Protection class Cooling system mbient temperature Relative humidity Power supply IP54 Indirect cooling 0 to +45 C (operation) 10 to +60 C (transport and storage) Max. 90 % non-condensating 3-phase 400/415/440 VC at 50/60 Hz Easy and fast programming Several user levels from operation to maintenance Help function Digital I/O nalogue in/outputs Positioning system Program memory Interface Color 40 inputs/40 outputs (standard) (Expandable to 4096 inputs/4096 outputs) 40 channels (optional) bsolute encoder / serial interface steps, instructions and PLC steps Ethernet Graphit gray: RL 7024 Light grey: RL 7035

11 MULTI LYOUT MIN MENU TOOL SEL COORD ENTRY SIMPLE MENU DIRECT OPEN SERVO ON REDY GO BCK PGE SSIST!? LNGUGE RE CNCEL SELECT Packaging & Palletising 11 Motoman DX200 Maintenance Programming pendant Functions Self-diagnosis System monitor, internal maintenance clocks (e.g. Servo power-on time) Classifies errors and major/minor alarms and displays the data Dimensions Touchscreen display Weight 169 (W) x (H) x 50 (D) 5.7 colour LCD (640 x 480 pixels) kg User alarm display larm display I/O diagnosis larm messages for peripheral devices larm messages and alarm history Simulated enable/disable outputs Coordinate system Speed adjustment Joint, Rectangular/cylindrical, Tool, User-coordinates Fine adjustment possible during operation or teach mode TCP calibration utomatic calibration of TCP (Tool Center Point) Shortcuts Direct access keys and user selectable screen keys possible Language Mostly spoken languages available (worldwide) Interface Compact Flash card slot, USB port Safety features Operating system Windows CE Specifications Collision avoidance Collision detection Dual-channel safety system (Emergency stop, safety interlock), 3-position Dead-man s switch, European safety standard (ISO10218) Collision avoidance zones and radial interference zones Monitors robot axes torque levels Programming Programming language Robot motion control INFORM III Joint motion, linear, circular, spline interpolation Machine lock Test-run peripheral device without robot motion possible Speed adjustement Joint motion (% of maximum) Interpolation (mm/sec; cm/min; inch/min) ngular velocity ( /sec) Main power Supply switch Warning label Rating name plate Key handle Programming pendant (P.P.) DX200 Min Bottom cover ir exhaust CEE Connector

12 12 Packaging & Palletising

13 Packaging & Palletising 13 MOTOMN MPK2F Handling, Picking & Packing with the MPK-series The MOTOMN MPK2F is a five-axis, high-speed robot that is particularly suitable in the following areas: order-picking, high-speed handling, picking-packing-palletizing and many other handling applications. With its Wash-Down paintwork, the MPK2F has been developed especially for use in the food industry and in environments with strict cleanliness requirements. Thanks to its compact and streamlined design, the robot can operate even in confined workspaces. The hollow-wrist design of the MPK2F allows integrated supply lines for energy, fluids and air all the way from the robot base to the tool. This high-speed robot, with a payload of 2 kg, is characterized by its very high velocity and acceleration. With a maximum of 133 cycles/minute, this robot combines performance and reliability in all handling applications. This allround-robot is driven by the MOTOMN FS100 compact controller. Key benefits Wash-down-painting for maximum hygiene Minimal footprint Fast acceleration, high speed increase productivity Optional vision and conveyor tracking for maximum flexibility Mounting options: Floor, ceiling, wall to suit cell integration Controlled by FS100

14 14 Packaging & Palletising Motoman MPK2F 1320 View B L C S U 120 P B T 34 D Working range Point P Ø 63 H6 View B 4 x M6, depth 8.5 (22.2) Ø 20 Ø 6 H7, depth PCD 50 4x ir Internal user wiring connector Media connector R View C R303 R900 Ø ± ± ± llowable wrist load P-point LT ± ± Mounting options: Floor, ceiling, wall 4 x Ø 12 2 x Ø 6 H7, depth 5 W=2kg T-axis centre of rotation B-axis centre of rotation LB Specifications MPK2F xes Maximum motion range [º] Maximum speed [ º/sec.] llowable moment [ Nm] llowable moment of inertia [ kg m 2 ] S ± L ± U +282/ R B ± T ± Controlled axes 5 Max. payload [ kg ] 2 Repeat. pos. accuracy [ mm ] ±0.5 Max. working range R [ mm ] 900 Temperature [ ºC] 0 to +40 Humidity [%] Weight [ kg ] 72 Power supply, average [ KV ] 2.0 Optional accessory: Wash down cover Order number

15 Packaging & Palletising 15 MOTOMN MPK2F-5 Handling, Picking & Packing with the MPK-series The MOTOMN MPK2F-5 is a five-axis, high-speed robot that is particularly suitable in the following areas: order-picking, highspeed handling, picking-packing and many other handling applications. With its Wash-Down paintwork, the MPK2F-5 has been developed especially for use in the food industry and in environments with strict cleanliness requirements. Thanks to its compact and streamlined design, the robot can operate even in confined workspaces. The hollow-wrist design of the MPK2F-5 allows integrated supply lines for energy, fluids and air all the way from the robot base to the tool. This high-speed robot, with a payload of 5 kg, is characterized by its very high velocity and acceleration. With a maximum of 133 cycles/minute, this robot combines performance and reliability in all handling applications. This all-round robot can be driven with the compact-controller FS100. Key benefits Wash-down-painting for maximum hygiene Minimal footprint Fast acceleration, high speed increase productivity Integrated supply lines for energy, fluids and air facilitates integration Optional vision and conveyor tracking for maximum flexibility Mounting options: Floor, ceiling, wall to suit cell integration Controlled by FS100

16 16 Packaging & Palletising Motoman MPK2F View Tip x M6, depth 8.5 Ø 20 PCD L U 120 P T 70 B Working range Point P 5 Ø 63 H6 (22.2) Ø 6 H7, depth S 60 View B 4x ir B 0 C Internal user wiring connector Media connector R View C R303 R900 Ø ± ± ± llowable wrist load P-point LT W=3kg ± ± Mounting options: Floor, ceiling, wall 4 x Ø 12 2 x Ø 6 H7, depth 5 W=5kg T-axis centre of rotation B-axis centre of rotation LB Specifications MPK2F-5 xes Maximum motion range [º] Maximum speed [ º/sec.] llowable moment [ Nm] llowable moment of inertia [ kg m 2 ] S ± L ± U +240/ R B ± ,26 0,065 T ± ,012 Controlled axes 5 Max. payload [ kg ] 5 Repeat. pos. accuracy [ mm ] ±0,5 Max. working range R [ mm ] 900 Temperature [ ºC] 0 bis +40 Humidity [%] Weight [ kg ] 72 Power supply, average [ KV ] 1,5 Optional accessory: Wash down cover Order number

17 Packaging & Palletising 17 MOTOMN MPL80 II Palletising with the MPL-series The versatile and powerful 5-axis MOTOMN MPL80 II robot provides high performance in case palletising, bag palletising, order picking and many further logistical tasks for end-of-line or distribution center automation. Its extensive vertical reach of 3291 mm combined with 2061 mm horizontal reach enables high palletising loads. Internally routed airlines and cables from base to end-of-arm tool maximize system reliability. The MPL80 II is driven by the high-perfomance DX200 controller which is available with the optional Category 3 Functional Safety Unit (FSU), providing a variety of new safety functions. Key benefits Flexible and powerful High Payload: 80 kg Maximum reliability, internally routed airlines and cables Internally routed fieldbus connection to T-axis/tool Enhanced Safety Functions for DX200 Functional Safety Controller (FSU) Controlled by DX200

18 18 Packaging & Palletising Motoman MPL80 II D B Tube for S Field bus Cable C L U B T 175 P Working range Point P View View B 32 Ø 50 Ø (STNDRD) 32 PCD80 1 x ir 1 x Ø 6, depth 10 1 x Ø 8, depth 14 6 x M8, depth 14 Internal user wiring connector Media connector x M4, depth 3, pitch R llowable wrist load LT x M8, depth 16, pitch 1.25 B-axis centre of rotation R2061 View C ± ± Mounting option: Floor 195±0.1 2 x Ø 12 8 x Ø ± ± ± kg 60 kg 40 kg 20 kg 10 kg 1200 LB T- and R-axis centre of rotation Specifications MPL80 II xes Maximum motion range [º] Maximum speed [ º/sec.] llowable moment [ Nm] llowable moment of inertia [ kg m 2 ] Controlled axes 5 Max. payload [ kg ] 80 S ± Repeat. pos. accuracy [ mm ] ±0.07 L +135/ Max. working range R [ mm ] 2061 U +35/ Temperature [ ºC] 0 to +45 R Humidity [%] B ± ,4 16 Weight [ kg ] 550 T ± ,5 6.1 Power supply, average [ KV ] 4

19 Packaging & Palletising 19 MOTOMN MPL100 II Palletising with the MPL-series The versatile and powerful 5-axis MOTOMN MPL100 II robot provides high performance in bag palletising, case palletising, order picking and many further logistical tasks for end-of-line or distribution center automation. Its extensive vertical reach of 3149 mm combined with 2150 mm horizontal reach enables high palletising loads. Internally routed airlines and cables from base to end-of-arm tool maximize system reliability. The MPL100 II is driven by the high-perfomance DX200 controller which is available with the optional Category 3 Functional Safety Unit (FSU), providing a variety of new safety functions. Key benefits Compact, flexible and powerful High acceleration and speed: Up to 1550 cycles/min., Suitable for bag palletising High Payload: 100 kg Large motion range: 1500 mm square reach 1900 mm stack height Maximum reliability, internally routed airlines and cables Internally routed fieldbus connection to T-axis/tool U-shaped flange for easy cable routing Enhanced Safety Functions for DX200 Functional Safety Controller (FSU) Suitable for bag palletising Controlled by DX200

20 20 Packaging & Palletising Motoman MPL100 II (276) Flange for Cabling 2242 Tube for Field bus Cable B Tube for Field bus Cable 70 4 S C L U P 1441 T B Working range Point P View x ir Ø 63H7 Ø 160h6 View B 30 2 x Ø 10H7, depth 8 2 x Ø 9H7, depth x M10, depth 14 6 x M10, depth 14 Tube for Field bus Cable x M8, depth 14 2 x M5, depth 9 2 x M6, depth 11 2 x 2 x M8, depth 14 2 x 2 x M6, depth 11 R2702 R2150 Working envelope of 70 kg payload (incl. flange) or less Internal user wiring connector Media connector View C x 2 x Ø 22 2 x Ø 20H7 185± ± ±0.1 llowable wrist load without flange B-axis centre of rotation LT with flange B-axis centre of rotation LT Mounting option: Floor 230± ± ± kg kg kg kg kg kg kg kg kg LB T- and R-axis centre of rotation 1600 LB T- and R-axis centre of rotation Specifications MPL100 II xes Maximum motion range [º] Maximum speed [ º/sec.] llowable moment [ Nm] llowable moment of inertia [ kg m 2 ] Flange without with Controlled axes 5 Max. payload [ kg ] Flange without with without with without with without with Repeat. pos. accuracy [ mm ] ±0.2 S ± Max. working range R [ mm ] 2150 L +76/ Temperature [ ºC] 0 to +45 U +40/ Humidity [%] B ± Weight [ kg ] 950 T ±360 ± Power supply, average [ KV ] 8

21 Packaging & Palletising 21 MOTOMN MPL160 II Palletising with the MPL-series The versatile and powerful 4-axis MOTOMN MPL160 II robot provides high performance in box palletising, case palletising and many further logistical tasks for end-of-line or distribution center automation. Its extensive vertical reach of 3024 mm combined with 3159 mm horizontal reach enables high palletising loads. Internally routed airlines and cables from base to end-of-arm tool maximize system reliability. The MPL160 II is driven by the high-perfomance DX200 controller which is available with the optional Category 3 Functional Safety Unit (FSU), providing a variety of new safety functions. Key benefits Compact, flexible and powerful High acceleration and speed: Up to 1650 cycles/min., Suitable for box palletising High Payload: 160 kg Large motion range: 2624 mm square reach (on pallet 1300 x 1300 mm) 2363 mm stack height (on pallet 1600 x 1600 mm) Maximum reliability, internally routed airlines and cables Internally routed fieldbus connection to T-axis/tool Enhanced Safety Functions for DX200 Functional Safety Controller (FSU) Protection class IP54/67 Controlled by DX200

22 22 Packaging & Palletising Motoman MPL160 II R View 8 Ø 63 H7 PCD x Ø 10 H7, depth 8 10 x M10, depth U 300 P T T 18 Ø 160 h L 90 Working range Point P B Tube for Field bus Cable C 0 S View B 5 x ir Tube for Field bus Cable Internal user wiring connector Matching connector 1300 View C 640 R697 R1037 llowable wrist load 1600 R ±0.1 2 x Ø 20 H x Ø 22 1 x Ø 12 H ± ± ± ± ± ± T-axis centre of rotation LT LB W = 160 kg W = 100 kg W = 80 kg Mounting option: Floor Specifications MPL160 II xes Maximum motion range [º] Maximum speed [ º/sec.] llowable moment [ Nm] llowable moment of inertia [ kg m 2 ] Controlled axes 4 Max. payload [ kg ] 160 S ± Repeat. pos. accuracy [ mm ] ±0.5 L +90/ Max. working range R [ mm ] 3159 U +15.5/ Temperature [ ºC] 0 to +45 R Humidity [%] B Weight [ kg ] 1700 T ± Power supply, average [ KV ] 9.5

23 Packaging & Palletising 23 MOTOMN MPL300 II Palletising with the MPL-series The versatile and powerful 4-axis MOTOMN MPL300 II robot provides high performance in box palletising, case palletising and many further logistical tasks for end-of-line or distribution center automation. Its extensive vertical reach of 3024 mm combined with 3159 mm horizontal reach enables high palletising loads. Internally routed airlines and cables from base to end-of-arm tool maximize system reliability. The MPL300 II is driven by the high-perfomance DX200 controller which is available with the optional Category 3 Functional Safety Unit (FSU), providing a variety of new safety functions. Key benefits Compact, flexible and powerful High acceleration and speed: Up to 1200 cycles/min., Suitable for box palletising High Payload: 300 kg Large motion range: 2624 mm square reach (on pallet 1300 x 1300 mm) 2363 mm stack height (on pallet 1600 x 1600 mm) Maximum reliability, internally routed airlines and cables Internally routed fieldbus connection to T-axis/tool Enhanced Safety Functions for DX200 Functional Safety Controller (FSU) Protection class IP54/67 Controlled by DX200

24 24 Packaging & Palletising Motoman MPL300 II R View 8 Ø 63 H7 PCD x Ø 10 H7, depth 8 10 x M10, depth U 300 P T T 18 Ø 160 h L 90 Working range Point P B Tube for Field bus Cable C 0 S View B 5 x ir Tube for Field bus Cable Internal user wiring connector Matching connector 1300 View C 640 R697 R1037 llowable wrist load 1600 R ±0.1 2 x Ø 20 H x Ø 22 1 x Ø 12 H ± ± ± ± ± ±0.1 T-axis centre of rotation LT W = 300 kg W = 250 kg W = 200 kg Mounting option: Floor LB Specifications MPL300 II xes Maximum motion range [º] Maximum speed [ º/sec.] llowable moment [ Nm] llowable moment of inertia [ kg m 2 ] Controlled axes 4 Max. payload [ kg ] 300 S ± Repeat. pos. accuracy [ mm ] ±0.5 L +90/ Max. working range R [ mm ] 3159 U +15.5/ Temperature [ ºC] 0 to +45 R Humidity [%] B Weight [ kg ] 1820 T ± Power supply, average [ KV ] 9.5

25 Packaging & Palletising 25 MOTOMN MPL800 II Palletising with the MPL-series The versatile and powerful 4-axis MOTOMN MPL800 II robot provides high performance in box palletising, case palletising and many further logistical tasks for end-of-line or distribution center automation. Its extensive vertical reach of 3024 mm combined with 3159 mm horizontal reach enables high palletising loads. Internally routed airlines and cables from base to end-of-arm tool maximize system reliability. The MPL800 II is driven by the high-perfomance DX200 controller which is available with the optional Category 3 Functional Safety Unit (FSU), providing a variety of new safety functions. Key benefits Compact, flexible and powerful High acceleration and speed: Up to 1200 cycles/min., Suitable for box palletising High Payload: 800 kg Large motion range: 2624 mm square reach (on pallet 1300 x 1300 mm) 2363 mm stack height (on pallet 1600 x 1600 mm) Maximum reliability, internally routed airlines and cables Internally routed fieldbus connection to T-axis/tool Enhanced Safety Functions for DX200 Functional Safety Controller (FSU) Protection class IP54/67 Controlled by DX200

26 26 Packaging & Palletising Motoman MPL800 II R View 8 Ø 100 H ±0.05 Ø 10 H7, depth U L P T T Working range Point P Ø 250 h6 12 x M12, depth 18 PCD B View B Tube for Field bus Cable C 0 S x ir Tube for Field bus Cable Internal user wiring connector Matching connector 1300 View C 640 R1037 R ± ±0.1 2 x Ø 20 8 x Ø ±0.1 R ± llowable wrist load 2 x Ø ± ± ± T-axis centre of rotation LT Mounting option: Floor 384± W = 750 kg W = 800 kg W = 700 kg LB Specifications MPL800 II xes Maximum motion range [º] Maximum speed [ º/sec.] llowable moment [ Nm] llowable moment of inertia [ kg m 2 ] Controlled axes 4 Max. payload [ kg ] 800 S ± Repeat. pos. accuracy [ mm ] ±0.5 L +90/ Max. working range R [ mm ] 3159 U +15.5/ Temperature [ ºC] 0 to +45 R Humidity [%] B Weight [ kg ] 2550 T ± Power supply, average [ KV ] 8

27 Packaging & Palletising 27 MOTOMN MPP3H Handling, Picking & Packing with the MPP3H The MOTOMN MPP3H 4-axis high-speed robot with parallel kinematic system combines the speed of the delta design with a high payload capacity and a large working range. Due to the high torque of the fourth axis, the so-called wrist axis, the MOTOMN MPP3H moves payloads of up to 3 kg at unprecedented speeds. This delta robot was developed for a wide spectrum of industries, such as food and beverage, pharmaceutical and the automotive sector. The MPP3H is driven by YSKWs compact FS100 controller and is available with advanced technologies such as MotoSight, MotoPick and conveyor tracking. Key benefits Protection classification IP67 Cleanromm class ISO 5 (with 50 and 100 % speed) Payloads with unprecedented speed: 150 cycles per minute with 3 kg payload 185 cycles per minute with 1 kg payload Total stroke of 500 mm with a working range of 1300 mm High-precision, high-speed conveyor tracking Maximum machine accuracy Compact installation space: 684 mm diameter Controlled by FS100

28 28 Packaging & Palletising Motoman MPP3H R100 View B 300 S Hollow Ø 80 (178) Ø 20 Ø 40 Through this hollowing pipe (dia. 80), air supplying devices and air hose fixing jigs can be equipped within this range U PCD 31.5 Recommended Range of motion (Ø 1040 x H 300) Ø 1300 Ø x Ø 5, depth 7 (diagonal) 4 x M5, depth 9 (equally-spaced) Mounting options: Ceiling 300 P T 601 R875 Working range Point P Maximum working range Point P llowable wrist load ±0.1 2 x Ø 12, depth Ø750 L 120 Fixing Tapped hole for a Manipulator 6 x M16, depth 40 (equally-spaced) P-point 3 kg 2 kg ±0.1 S 277 PCD 710 R540 (Ø1040) (Ø1300) Conveyer Installation Direction 1 kg Working range Point P U Recommended Range of motion (Ø 1040 x H 300) Specifications MPP3H Pattern Payload [kg] CPM* Payload [kg] CPM* Controlled axes 4 Max. payload [ kg ] Repeat. pos. accuracy [ mm ] ± Repet. rotational accuracy of T-axis [ arc x min 1] ± Max. working range R [ mm ] 1300 Conveyor speed** [ mm/s ] Conveyor position repeat accuracy** [ mm ] Temperature [ ºC] 0 to +40 Humidity [%] Weight [ kg ] ,5 Power supply, average [ KV ] IP class IP67 ** Cycle time without picking time and product. ** Values determined under test conditions, differences possible depending on application. IP cleanroom class 5

29 Packaging & Palletising 29 MOTOMN MPP3S Handling, Picking & Packing with the MPP3S The MOTOMN MPP3S 4-axis high-speed robot with parallel kinematic system combines the speed of the delta design with a high payload capacity and a large working range. Due to the high torque of the fourth axis, the so-called wrist axis, the MOTOMN MPP3S moves payloads of up to 3 kg at unprecedented speeds. This delta robot was developed for a wide spectrum of industries, such as food and beverage, pharmaceutical and the automotive sector. The MPP3S is driven by YSKWs compact FS100 controller and is available with advanced technologies such as MotoSight, MotoPick and conveyor tracking. Key benefits Protection classification IP67 ISO class 4 (with 50 % speed), clean room rated ISO class 5 (with 100 % speed), clean room rated Payloads with unprecedented speed: 150 cycles per minute with 3 kg payload 185 cycles per minute with 1 kg payload Total stroke of 300 mm with a working range of 800 mm High-precision, high-speed conveyor tracking Maximum machine accuracy Compact installation space: 684 mm diameter Controlled by FS100

30 30 Packaging & Palletising Motoman MPP3S 100 View B 300 Ø S U Ø 40 2 x Ø 5, depth 7 PCD 31.5 Ø 800 Maximum working range Point P x M5, depth Working range Point P T P llowable wrist load Ø x Ø 12, depth 10 L 3 x M16, depth 30 Ø 80 P-Punkt ±0.1 S Ø 650 PCD 684 Ø 800 Ø 410 Conveyer Installation Direction Working range Point P 3 kg 2 kg 1 kg Ø x M16, depth 32 U Specifications MPP3S Pattern Payload [kg] CPM* Payload [kg] CPM* Controlled axes 4 Max. payload [ kg ] Repeat. pos. accuracy [ mm ] ± Repet. rotational accuracy of T-axis [ arc x min 1] ± Max. working range R [ mm ] 800 Conveyor speed** [ mm/s ] Conveyor position repeat accuracy** [ mm ] Temperature [ ºC] 0 to +40 Humidity [%] Weight [ kg ] Power supply, average [ KV ] IP class IP67 * Cycle time without picking time and product. ** Values determined under test conditions, differences possible depending on application. *** ISO 4 with 50 % speed, ISO 5 with 100 % speed. IP cleanroom class 4/5***

31 Packaging & Palletising 31 MOTOMN MYS-SerieS Picking, Packing & Handling with the MYS-series The robust Scara-robots of the MOTOMN MYS-series feature a wide motion range due to its compact design. They are particularly suitable for application when high speed and accuracy is required, for example picking and packing, dispensing and feeding. Small interference contours allow the robots working together in confined spaces. Internal cabling enables a reliable workflow and saves extensive maintenance. These robots are driven by the high-performance MOTOMN FS100 controller. Key benefits Fast, powerful and reliable Wide motion range Compact and robust design Internal cabling High repeatability and accuracy Ideal for applications in confined spaces Easy integration and high dynamics Easy maintenance Controlled by FS100

32 32 Packaging & Palletising Motoman MYS-Series MOTOMN-MYS450F Ø Ø R R View View B mm Flat cut Ø 4, 90 conical hole Ø (90 ) (8.7) (Ø 4) (1) 39.5 B MOTOMN-MYS650LF Ø R Ø 160 R View View B mm Flat cut Ø 4, 90 conical hole Ø (90 ) (8.7) (Ø 4) (1) 39.5 B

33 Packaging & Palletising 33 Motoman MYS-Series MOTOMN-MYS850LF Ø R Ø R850 View View B 1 mm Flat cut Ø 4, 90 conical hole Ø (90 ) (8.7) (Ø 4) (1) 39.5 B Specifications MYS-Serie Robotertyp MYS450F MYS650LF MYS850LF Controlled axes Max. payload [ kg ] Repeat. pos. accuracy [ mm] axis Z-axis U-axis ± ± ± ± ± ± ± ± ± Operating distance [ mm ] axis Z-axis llowable moment of inertia [ kg m 2 ] U-axis [ nom.] U-axis [ max.] Weight [ kg ]

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36 YaskaWa Headquarters YSKW Europe GmbH Robotics Division Yaskawastraße 1 D llershausen Tel. +49 (0) 8166/90-0 Fax +49 (0) 8166/ YaskaWa academy and sales office Frankfurt YSKW Europe GmbH Robotics Division Hauptstraße 185 D Eschborn Tel. +49 (0) 6196/ Fax +49 (0) 6196/ YSKW GROUP CZ E F YSKW ustria Schwechat/Wien +43(0) YSKW Czech s.r.o. Rudná u Prahy YSKW Ibérica, S.L. Gavà/Barcelona YSKW France SRL Saint-ignan-de-Grand-Lieu FIN YSKW Finland Oy Turku +358-(0) GB YSKW UK Ltd. Banbury I IL NL YSKW Italia s.r.l. Torino YSKW Europe Technology Ltd. Rosh Ha ayin YSKW Benelux B.V. EB Son RUS YSKW Nordic B Moskva SE SI TR Z YSKW Nordic B Torsås YSKW Slovenia Ribnica YSKW Turkey Elektrik Ticaret Ltd. Sti. İstanbul YSKW Southern frica (PTY) Ltd Johannesburg DISTRIBUTORS BG Kammarton Bulgaria Ltd. Sofia CH Messer Eutectic Castolin Switzerland S.. Dällikon DK EE Robotcenter Danmark Løsning RKR Seadmed OÜ Tallinn/Estonia GR Gizelis Robotics Nea Kifissia H LT N PL PT Flexman Robotics Kft Budapest Profibus UB Panevezys Skala Robotech S Lierstranda Integrator RHC Sp. z o.o. Torun ROBOPLN Lda veiro RO Sam Robotics srl Timisoara RO MPL utomation S.R.L. Satu Mare +40 (0) robotics@yaskawa.eu.com ll dimensions in mm Technical data may be subject to change without previous notice Please request detailed drawings at robotics@yaskawa.eu.com , -No