Welding & Cutting. Robot program

Transcription

1 Welding & Cutting Robot program

2 Masters of Robotics, Motion and Control

3 Welding & Cutting 3 Contents Controller DX Welding & Cutting MS-series MS80W II MS100 II MS MS MA-series MA MA

4 4 Welding & Cutting

5 Welding & Cutting 5 MOTOMAN DX200 Industrial robot controller YASKAWAs 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 Advanced Robot Motion (ARM) control provides high performance, best-in-class path planning and dramatically reduces teaching time. It supports coordinated motion with multiple robots or other devices. A 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 Application 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 US port facilitate memory backups

6 MULTI TOOL SEL ENTRY GO ACK LANGUAGE 6 Welding & Cutting Motoman DX200 High performance controller DX200 for MOTOMAN-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 Advanced-Robot-Motion function (ARM) 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 uilt-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 LAYOUT MAIN MENU COORD SIMPLE MENU DIRECT OPEN SERVO ON READY PAGE ASSIST!? AREA CANCEL SELECT CF-card slot US- Connection (reverse side) Main axes keys Additional axes keys Further features Multitasking Internal SPS High performance by industrial PC oot time max. 50 sec MTTR (Mean Time To Repair): < 10 min. Automatic 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 Approx. 180 kg 3 position dead man switch (rear side not visible) Display can be individually set for applications: Handling Shielded Arc Welding Spot Welding or General Applications Protection class Cooling system Ambient 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 VAC at 50/60 Hz Easy and fast programming Several user levels from operation to maintenance Help function Digital I/O Analogue in/outputs Positioning system Program memory Interface Color 40 inputs/40 outputs (standard) (Expandable to 4096 inputs/4096 outputs) 40 channels (optional) Absolute encoder / serial interface steps, instructions and PLC steps Ethernet Graphit gray: RAL 7024 Light grey: RAL 7035

7 MULTI LAYOUT MAIN MENU TOOL SEL COORD ENTRY SIMPLE MENU DIRECT OPEN SERVO ON READY GO ACK PAGE ASSIST!? LANGUAGE AREA CANCEL SELECT Welding & Cutting 7 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 Alarm display I/O diagnosis Alarm messages for peripheral devices Alarm 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 Automatic 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, US 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) Angular velocity ( /sec) Main power Supply switch Warning label Rating name plate Key handle Programming pendant (P.P.) DX200 Min ottom cover Air exhaust CEE Connector

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9 Welding & Cutting 9 MOTOMAN MS80W II Spot Welding with the MS-series The MOTOMAN MS80W II is YASKAWA s answer to worldwide downsizing of spot-welding guns. This 80 kg spot-welding robot represents a further highlight of the company s range. On closer inspection, one is impressed by the streamlined design of the 6-axis MS80W II: its increased speed and higher flexibility are significant advantages over conventional heavy-duty robots. Welding lines can be reduced by means of the extremely close positioning of the robot which also results in reduction of cycle times and allows flexible adaptation of the welding lines. The cables are integrated and are routed from the L axis to the robot base and through the centre of the S axis. Key benefits Max. payload of 80 kg Repeatability of ±0,07 mm Max. working range of 2236 mm Extremely streamlined design Reduced robot width by means of integrated cables and media hose package through the robot arm Can be placed close to workpieces and other robots for flexible, high-density layouts. These configurations can eliminate multiple stations, resulting in shorter production lines and smaller spot welding work cells. Proven integrated spot harness, prevents interference and reduces programming time High dynamic performance Controlled by DX200

10 10 Welding & Cutting Motoman MS80W II Connector for the external axis (encoder cable) Internal user wiring connector Media connector 1 x Air 4 x Cooling water C L S U R 155 P T A Working range Point P View A 6 Ø View Ø PCD Ø 6 H7, depth 10 Ø 8 H7, depth 14 Internal user wiring connector Media connector 1 x Air 6 x M8, depth x Cooling water x M8, depth x M8, depth 16 View C 230± ±0.1 2 x Ø 12 H7 8 x Ø R2236 R ± ± ±0.1 Allowable wrist load kg 60 kg 70 kg 80 kg Mounting option: Floor P-point 200 L LT T-, R-axis centre of rotation axis Specifications MS80W II Axes Maximum motion range [º] Maximum speed [ º/sec.] Allowable moment [ Nm] Allowable moment of inertia [ kg m 2 ] Controlled axes 6 Max. payload [ kg ] 80 S ± Repeat. pos. accuracy [ mm ] ±0.07 L +155/ Max. working range R [ mm ] 2236 U +160/ Temperature [ ºC] 0 to +45 R ± Humidity [%] ± Weight [ kg ] 550 T ± Power supply, average [ KVA ] 4

11 Welding & Cutting 11 MOTOMAN MS100 II Spot Welding with the MS-series The 6-axis MOTOMAN MS100 II is a versatile robot offering superior performance in spot welding applications. Despite its wide motion range this robot requires minimal footprint and its streamlined design enables a high payload of 100 kg. In addition the MOTOMAN MS100 II is optional available with external cables for flexible mounting of small and middle-sized spot welding guns, with only little limiting its motion range. Installing a compact spot welding gun and routing cables close to the robots arm allow placing the robot nearby the work piece. So the MOTOMAN MS100 II is able to work perfectly together with other robots in confined spaces. The MOTOMAN MS100 II is available with the optional Catetogry 3 Functional Safety Unit (FSU), which allows an establishment of 32 safety units and up to 16 tools. Key benefits Wide motion range: 2236 mm High payload: 100 kg Maximum performance using minimal floor space Optional with media hose package for mounting spot welding guns Enhanced safety funtions (optional) Controlled by DX200

12 12 Welding & Cutting Motoman MS100 II Internal user wiring connector Media connector View A 7 Ø x Air L Working range Point P S C 45 U R P T A Ø 31.5 H7 Ø 140 h6 View Internal user wiring connector Media connector 2 x Ø 100, depth x M10, depth 15 5 x Air Allowable wrist load without flange LT P-point kg 60 kg 80 kg 100 kg with flange P-point x M8, depth 14 2 x M5, depth 9 Flange for cabling 2 x M6, depth 11 4 x M8, depth kg 60 kg 80 kg 100 kg R2236 View C ± ± ±0.1 2 x Ø 12 8 x Ø ± ± ± Mounting option: Floor -axis R-, T-axis L -axis R-, T-axis L Axes Maximum motion range [º] Maximum speed [ º/sec.] Allowable moment [ Nm] Specifications MS100 II Allowable moment of inertia [ kg m 2 ] * Recommended values Flange without with Controlled axes 6 Flange without with* without with without with without with Max. payload [ kg ] S ± Repeat. pos. accuracy [ mm ] ±0.07 L +155/ Max. working range R [ mm ] 2236 U +160/ Temperature [ ºC] 0 to +45 R ±360 ± Humidity [%] ±125 ± Weight [ kg ] 625 T ±360 ± Power supply, average [ KVA ] 5.0

13 Welding & Cutting 13 MOTOMAN MS165 Spot Welding with the MS-series The 6-axis MOTOMAN MS165 is a versatile, high speed robot offering superior performance in spot welding applications. The MOTOMAN MS165 offers a large motion range and is equipped with external cables for flexible mounting of large spot welding guns, which contributes to increase the number of welding points per manipulator.the width of the MOTOMAN MS165 has been decreased by 625 mm and the installation area has also been reduced. In addition the payload has been increased to 165 kg. The number of power cables has been reduced from two to one resulting in reduced maintenance. A new vibration control system has been developed thanks to higher rotational axis speeds and rigidity of speed reducers. y reducing the cycle times, this system realises high increases in productivity. Key benefits Fast, flexible and powerful High payload: 165 kg Wide motion range: 2702 mm Maximum performance using minimal floor space Equipped with media hose package for mounting spot welding guns Reduced maintenance (cable reduction from 2 to 1) Controlled by DX200

14 14 Welding & Cutting Motoman MS View A (275) Tube for field bus cable P S L U 19 R Working range Point P 76 T R A x Air Ø 63H7 View Ø 160h6 2 x Ø 10 H7, depth 8 2 x Ø 9 H7, depth x M10, depth 14 6 x M10, depth Tube for field bus cable C Internal user wiring connector Media connector R x M8, depth 14 2 x M5, depth R ± x 2 x Ø22 2 x Ø 20 H x M6, depth 11 2 x 2 x M8, depth 14 Flange for cabling R2702 View C 250± ±0.1 Allowable wrist load without flange with flange 230± ± ±0.1 LT P-point kg 60 kg 80 kg 100 kg 130 kg 165 kg 180 kg LT P-point 40 kg 60 kg 80 kg 100 kg 130 kg 165 kg Mounting option: Floor -axis R-, T-axis L -axis R-, T-axis L Specifications MS165 * Recommended values Axes Maximum motion range [º] Maximum speed [ º/sec.] Allowable moment [ Nm] Allowable moment of inertia [ kg m 2 ] Flange without with Controlled axes 6 Flange without with* without with without with without with Max. payload [ kg ] S ± Repeat. pos. accuracy [ mm ] ±0.2 L +76/ Max. working range R [ mm ] 2702 U +90/ Temperature [ ºC] 0 to +45 R ±360 ± Humidity [%] ± Weight [ kg ] 970 T ±360 ± Power supply, average [ KVA ] 5.0

15 Welding & Cutting 15 MOTOMAN MS210 Spot Welding with the MS-series The 6-axis MOTOMAN MS210 is a versatile, high speed robot offering superior performance in spot welding applications. The MOTOMAN MS210 offers a large motion range and is equipped with external cables for flexible mounting of large spot welding guns, which contributes to increase the number of welding points per manipulator. The width of the MOTOMAN MS210 has been decreased by 625 mm and the installation area has also been reduced. In addition the payload has been increased to 210 kg. The number of power cables has been reduced from two to one resulting in reduced maintenance. A new vibration control system has been developed thanks to higher rotational axis speeds and rigidity of speed reducers. y reducing the cycle times, this system realises high increases in productivity. Key benefits Fast, flexible and powerful High payload: 210 kg Wide motion range: 2702 mm Maximum performance using minimal floor space Equipped with media hose package for mounting spot welding guns Reduced maintenance (cable reduction from 2 to 1) Controlled by DX200

16 16 Welding & Cutting Motoman MS View A (270) Tube for field bus cable P S L U 19 R Working range Point P 76 T R A x Air Ø 63H7 View Ø 180h6 2 x Ø 10 H7, depth 8 2 x Ø 9 H7, depth x M10, depth 16 6 x M10, depth Tube for field bus cable R515 C 562 R x M8, depth 14 2 x M5, depth 9 2 x M6, depth 11 2 x 2 x M8, depth 14 Flange for cabling R Internal user wiring connector Media connector View C 230± x 2 x Ø22 2 x Ø 20 H ± ±0.1 Allowable wrist load without flange LT kg with flange LT kg 230± ± ± kg 100 kg kg 100 kg Mounting option: Floor P-point kg 165 kg 210 kg P-point kg 165 kg 210 kg -axis R-, T-axis L -axis R-, T-axis L Axes Maximum motion range [º] Maximum speed [ º/sec.] Allowable moment [ Nm] Specifications MS210 Allowable moment of inertia [ kg m 2 ] * Recommended values Flange without with Controlled axes 6 Flange without with* without with without with without with Max. payload [ kg ] S ± Repeat. pos. accuracy [ mm ] ±0,2 L +76/ Max. working range R [ mm ] 2702 U +90/ Temperature [ ºC] 0 bis +45 R ±360 ± Humidity [%] ± Weight [ kg ] 1000 T ±360 ± Power supply, average [ KVA ] 5,0

17 Welding & Cutting 17 MOTOMAN MA1440 Shielded arc welding with the MA-series The 6-axis MOTOMAN MA1440 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 increased payload of 6 kg, it s superior wire feed system, the maximum working range of 1440 mm and integrated media hose package, the 6-axis robot MA1440 significantly improve welding quality. This enables the simple machining of bulky and hardto-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. The hollow wrist from 42 mm was extended to 50 mm, and the rate of the flange to -axis from 200 mm has been reduced to 100 mm. Further new features are the integration of the power cable as well as the air connections in the base and an enlarged turning range of more than 340. Key benefits Expanded diameter of hollow wrist (42 to 50 mm) High speed shortens the air cut time and eliminate the air cut time Doubled payload compared with other models in its class Servo torch and censors can be installed Can be used in the welding process is used more large robot Streamlined arm is based on industrial design eliminates the interference with jig Industrial design arm prevents the invasion of spatter and makes the maintenance easy Possibility of additional medium (Power cable, air connections, ect.) Controlled by DX200

18 18 Welding & Cutting Motoman MA View A D 90 L U 155 R T P Working range Point P A Ø 50 View Ø 4 H7, depth 6 Ø x Air x M4, depth 8 PCD 56 Please note wall mounting option: +/ 30 S-axis limit Please note ceiling mounting option: Depends on -axis position C S R410 4 x M6, depth Internal user wiring connector Media connector View C 4 x Ø ± ± ± ± R410 R x Ø 12 H7 2 x Ø 16 H7 100± ± ±0.1 Mounting options: Floor, wall, ceiling View D Allowable wrist load Ø 50 2 x Air P-point LT (179.54) W=3 kg ( ) Internal user wiring connector Media connector W=6 kg -axis R-, T-axis L Specifications MA1440 (Type floor, wall: YR-MA01440-A00, type ceiling: YR-MA01440-A10) Axes Maximum motion range [º] Maximum speed [ º/sec.] Allowable moment [ Nm] Allowable moment of inertia [ kg m 2 ] Controlled axes 6 Max. payload [ kg ] 6 S ± Repeat. pos. accuracy [ mm ] ±0.08 L +155/ Max. working range R [ mm ] 1440 U +240/ Temperature [ ºC] 0 to +45 R ± Humidity [%] A00: +90/ 135 A10: +135/ Weight [ kg ] 130 T ± Power supply, average [ KVA ] 1.5

19 Welding & Cutting 19 MOTOMAN MA2010 Shielded arc welding with the MA-series With its long arm, the 6-axis MOTOMAN MA2010 high-speed robot offers the greatest reach in its class (max mm) and a high payload capacity of 10 kg. Despite the use of a heavy welding torch, it can thus move a long way into fixtures or work pieces. The MOTOMAN MA2010 has been specially developed for welding thin work pieces using the front pull system or water-cooled welding torches. With the extended hollow structure (diameter 50 mm) of the upper arm, this robot enables internal routing of the welding hose package, thereby increasing its service life and reducing interference contours. With its streamlined design, the MOTOMAN MA2010 has a minimal footprint, enabling multiple manipulators to be lined up close together. Furthermore, its fast motion sequences and high repeatability ensure high work piece output. Key benefits Greatest reach in its class: 2010 mm High payload capacity: 10 kg Enables the mounting of heavy water-cooled torches or front pull system Specially developed for welding thin workpieces Hollow front arm: Diameter 50 mm Minimized interference contours Streamlined design High productivity Controlled by DX200

20 20 Welding & Cutting Motoman MA View A U R 105 C D L S P T Working range Point P A Ø 50 View 2 x Air 8 x M4, depth 8 Ø 4, depth 6 Ø 62 Ø Internal user wiring connector Media connector 22.5 Welding power source terminal board (optional) 1284 View C ±0.1 4 x Ø ± ± x Ø ±0.1 Mounting options: Floor, wall, ceiling x M8, depth Please note wall mounting option: +/ 30 S-axis limit Please note ceiling mounting option: Depends on -axis position R x M6, depth x M6, depth 12 4 x M6, depth 12 R View D Specifications MA2010 (Type floor, wall: YR-MA2010-A00, type ceiling: YR-MA2010-A10) Axes Maximum motion range [º] Maximum speed [ º/sec.] Allowable moment [ Nm] Allowable moment of inertia [ kg m 2 ] Controlled axes 6 Max. payload [ kg ] 10 S ± Repeat. pos. accuracy [ mm ] ±0.08 L +155/ Max. working range R [ mm ] 2010 U +220/ Temperature [ ºC] 0 to +45 R ± Humidity [%] A00: +90/ 135 A10: +135/ Weight [ kg ] 280 T ± Power supply, average [ KVA ] 2.0

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24 YASKAWA Headquarters YASKAWA Europe GmbH Robotics Division Yaskawastraße 1 D Allershausen Tel. +49 (0) 8166/90-0 Fax +49 (0) 8166/ YASKAWA academy and sales office Frankfurt YASKAWA Europe GmbH Robotics Division Hauptstraße 185 D Eschborn Tel. +49 (0) 6196/ Fax +49 (0) 6196/ YASKAWA GROUP A CZ E F YASKAWA Austria Schwechat/Wien +43(0) YASKAWA Czech s.r.o. Rudná u Prahy YASKAWA Ibérica, S.L. Gavà/arcelona YASKAWA France SARL Saint-Aignan-de-Grand-Lieu FIN YASKAWA Finland Oy Turku +358-(0) G YASKAWA UK Ltd. anbury I IL NL YASKAWA Italia s.r.l. Torino YASKAWA Europe Technology Ltd. Rosh Ha ayin YASKAWA enelux.v. E Son RUS YASKAWA Nordic A Moskva SE SI TR ZA YASKAWA Nordic A Torsås YASKAWA Slovenia Ribnica YASKAWA Turkey Elektrik Ticaret Ltd. Sti. İstanbul YASKAWA Southern Africa (PTY) Ltd Johannesburg DISTRIUTORS G Kammarton ulgaria Ltd. Sofia CH Messer Eutectic Castolin Switzerland S.A. Dällikon DK EE Robotcenter Danmark Løsning RKR Seadmed OÜ Tallinn/Estonia GR Gizelis Robotics Nea Kifissia H LT N PL PT Flexman Robotics Kft udapest Profibus UA Panevezys Skala Robotech AS Lierstranda Integrator RHC Sp. z o.o. Torun ROOPLAN Lda Aveiro RO Sam Robotics srl Timisoara RO MPL Automation S.R.L. Satu Mare +40 (0) robotics@yaskawa.eu.com All dimensions in mm Technical data may be subject to change without previous notice Please request detailed drawings at robotics@yaskawa.eu.com A , A-No