MOTOMAN GP-series. Handling & General Application. Controlled by YRC MOTOMAN GP8

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Dina Cathleen Hunter
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1 MOTOMAN GP-series Handling & General Application Controlled by YRC1 MOTOMAN GP8

MOTOMAN GP-series Robot System Solutions MOTOMAN

site issues with YASKAWA s cutting-edge robot

We can meet customer s diversified needs with a

Increase productivity GP Reduce setup time for

required for start-up and maintenance of

applications Make equipment compact MOTOMAN

Globalize equipment Improve efficiency in

2 MOTOMAN GP-series Robot System Solutions MOTOMAN GP-series Find smart solutions for production site issues with YASKAWA s cutting-edge robot systems. YASKAWA has the Answer! We can meet customer s diversified needs with a variety of functions and components. Increase productivity GP Reduce setup time for equipment GP-series Manipulators Reduce time required for start-up and maintenance of equipment Customer needs for diversified applications Make equipment compact MOTOMAN GP-Series Total Solution Improve work efficiency Globalize equipment Improve efficiency in installation, operation and maintenance of equipment YRC1 Controller GP7 GP8 GP12 GP25 GP25-12 Controller YRC1

GP7 and GP8 Compact and High Speed Increase Productivity Highest payloads, speeds and wrist allowable moment in its class A variety of workpieces can be

(max) Acceleration/deceleration control has been improved to achieve maximum reduction of acceleration/deceleration times for all robot postures Reduced

compact Slim and easy-to-use structure Slim robot body requires minimum installation space (minimizes L-U axis offset) The manipulator cable can be connected

robot Increased maximum reach and horizontal reach enables robots to operate in wider work areas The slim, straight, and symmetrical arm design minimize

and GP8): 67 mm Manipulator cable connection on the side and bottom (optional) of the robot Improve efficiency in Installation, Operation and Maintenance of

its IP67 standard protection class Easy-to-clean design Robot surface is designed to prevent adherence of dust Easy maintenance Data saving feature enables to

3 GP7 and GP8 Compact and High Speed Increase Productivity Highest payloads, speeds and wrist allowable moment in its class A variety of workpieces can be transferred and different grippers can be mounted with 7-kg and 8-kg payloads and 38 % greater allowable moment Speeds of all axes have been increased by 39 % (max) Acceleration/deceleration control has been improved to achieve maximum reduction of acceleration/deceleration times for all robot postures Reduced interference radius when S-axis is turning Former model MH5(L)S II Interference radius: 182 mm New model GP7 and GP8 Interference radius: 14 mm Make Equipment compact Slim and easy-to-use structure Slim robot body requires minimum installation space (minimizes L-U axis offset) The manipulator cable can be connected at the bottom section, which reduces interference with walls and requires far less installation space when compared with cable connections on the side of the robot Increased maximum reach and horizontal reach enables robots to operate in wider work areas The slim, straight, and symmetrical arm design minimize interference with peripheral devices even in small spaces Reduced interference radius when the wrist is turning Former model (MH5S II): 73 mm New model (GP7 and GP8): 67 mm Manipulator cable connection on the side and bottom (optional) of the robot Improve efficiency in Installation, Operation and Maintenance of Equipment Easy set-up Only one cable is required, which reduces setup time High environmental performance Its structure can resist dust and coolants due to its IP67 standard protection class Easy-to-clean design Robot surface is designed to prevent adherence of dust Easy maintenance Data saving feature enables to replace the wire harness in the robot without having to connect to a battery Productivity improvement due to reduction in number of cables & connectors Rounded shape and smooth surface

4 MOTOMAN GP7 View A U T L 255 Ø 5 H7, depth 7 View R Fitting Depth 856 A x M8, depth Ø3 1.5 Ø 12 H x M5, depth Working range Point P 25 Internal user wiring connector Matching connector 2 x Air inlet PT1/4 with pipe plug S C View C ± x M8, depth ±.5 6±.1 66± R x Ø Ø 12 H7 1±.5 R9 27 Mounting options: Floor, ceiling, wall, tilt* Protection class: IP67 * tilt with condition of angle see table below Free from corrosive gasses or liquids, or explosive gasses Free from exposure to water, oil or dust Free from excessive electrical noise (plasma) Robot installation angle [deg.] LT wrist load 3 U 3 ±17 degrees or less (no limit) 3 < U 35 ±6 degrees or less 35 < U 4 ±5 degrees or less 4 < U 45 ±45 degrees or less 45 < U 5 ±4 degrees or less 5 < U 6 ±35 degrees or less 6 < U ±3 degrees or less kg 145 P-point 7 kg 1 2 -axis centre of rotation T-axis 8 4 L S-axis operating range [deg.] Specifications GP7 motion range [º] speed [º/sec.] moment [Nm] moment of inertia [kg m2] Controlled axes 6 Max. payload [kg] 7 S ± Repeatability [mm] ±.3 L +145/ Max. working range R [mm] 927 U +255/ Temperature [ºC] to +45 R ± Humidity [%] 2 8 ± Weight [kg] 34 T ± Power supply, average [KVA] 1 Axes Conforms to ISO 9283 Varies in accordance with applications and motion patterns Note: SI units are used for specifi cations. All dimensions in mm

5 MOTOMAN GP View A 4 x M5, depth 9 45 Ø L U 2 R x M8, depth 8 T A Working range Point P Fitting Depth View Ø 12 H6 Ø 5 H7, depth 7 Internal user wiring connector Matching connector C S View C 2 x Air inlet PT1/4 with pipe plug 6±.1 66±.1 2 x M8, depth ± ±.5 16 R R727 Ø 12 H ±.5 4 x Ø 12 Mounting options: Floor, ceiling, wall, tilt* Protection class: IP67 Free from corrosive gasses or liquids, or explosive gasses Free from exposure to water, oil or dust Free from excessive electrical noise (plasma) wrist load P-point LT kg 7 kg 5 kg *tilt with condition of angle see table below Robot installation angle [deg.] S-axis operating range [deg.] U 3 ±17 degrees or less (no limit) 3 < U 35 ±6 degrees or less 35 < U 4 ±5 degrees or less 4 < U 45 ±45 degrees or less -axis centre of rotation L T-axis 45 < U 5 ±4 degrees or less 5 < U 6 ±35 degrees or less 6 < U ±3 degrees or less Specifications GP8 Axes motion range [º] speed [º/sec.] moment [Nm] moment of inertia [kg m 2 ] Controlled axes 6 Max. payload [kg] 8 S ± Repeatability [mm] ±.2 L +145/ Max. working range R [mm] 727 U +255/ Temperature [ºC] to +45 R ± Humidity [%] 2 8 ± Weight [kg] 32 T ± Power supply, average [KVA] 1 Conforms to ISO 9283 Varies in accordance with applications and motion patterns Note: SI units are used for specifi cations. All dimensions in mm

GP12, GP25 and GP25-12 Increase Productivity Highest payloads, speeds and wrist allowable moment in its class The

Acceleration/deceleration control has been improved to achieve maximum reduction of acceleration/deceleration times for all

operation restriction due to cable interference, simplifies teaching and eliminates cable disconnection caused by

small spaces Minimized interference radius of the wrist MH12/MH24 (earlier models): 136/147 mm GP12/GP25 (new models):

required, which reduces setup time Wrist structure with great environment resistance Wrist structure of R, and T axes are

6 GP12, GP25 and GP25-12 Increase Productivity Highest payloads, speeds and wrist allowable moment in its class The productivity of the customer s equipment can be improved with the highest speed in the 12 and 25 kg payload class Acceleration/deceleration control has been improved to achieve maximum reduction of acceleration/deceleration times for all robot postures speed has been increased 15 % (max.) in comparison to the former model Hollow arm 5 mm dia. 5 mm dia. Existing model New model Make Equipment compact Easy-to-use structure The hollow arm structure to store cables reduces operation restriction due to cable interference, simplifies teaching and eliminates cable disconnection caused by interference est accessibility in its class The slim arm design minimizes interference with peripheral devices even in small spaces Minimized interference radius of the wrist MH12/MH24 (earlier models): 136/147 mm GP12/GP25 (new models): 12/138 mm Improve Efficiency in Installation, Operation and Maintenance of Equipment Easy set-up Only one cable is required, which reduces setup time Wrist structure with great environment resistance Wrist structure of R, and T axes are IP67-compliant as a standard specification Wrist structure of S, L and U axes are IP54-compliant (option IP65) Easy maintenance Data saving feature enables to replace the wire harness in the robot without having to connect to a battery Productivity improvement due to reduction in number of cables & connectors

7 MOTOMAN GP12 View A L U R T P A Ø 5 Install attachments to this range Ø 62 6 Ø 1 1 x Ø 4 H7, depth 7 Ø x M4, depth C S Working range Point P View 2 x Air Internal user wiring connector Media connector View C ±.1 R x M6, depth 14 4 x 18 Ø x M6, depth ± ±.1 153±.1 13 R R144 Ø 12 H7 2 x Ø 16 H7 1±.1 12±.1 153±.1 Free from corrosive gasses or liquids, or explosive gasses Free from exposure to water, oil or dust Free from excessive electrical noise (plasma) Mounting options: Floor, ceiling, wall, tilt* Protection class: Main axes (S, L, U) IP54 (option 65), wrist IP67 *tilt with condition of angle see table below wrist load P-point LT -axis W = 12 kg W = 6 kg W = 3 kg L R-, T-axis Robot installation angle [deg.] S-axis operating range [deg.] U 3 ±17 degrees or less (no limit) 3 < U 35 ±6 degrees or less 35 < U 4 ±5 degrees or less 4 < U 45 ±45 degrees or less 45 < U 5 ±4 degrees or less 5 < U 6 ±35 degrees or less 6 < U ±3 degrees or less Specifications GP12 Axes motion range [º] speed [º/sec.] moment [Nm] moment of inertia [kg m 2 ] Controlled axes 6 Max. payload [kg] 12 S ±17 26 Repeatability [mm] ±.8 L +155/ 9 23 Max. working range R [mm] 144 U +155/ Temperature [ºC] to +45 R ± Humidity [%] 2 8 ± Weight [kg] 15 T ± Power supply, average [KVA] 1.5 Conforms to ISO 9283 Varies in accordance with applications and motion patterns Note: SI units are used for specifi cations. All dimensions in mm

8 MOTOMAN GP U View A Ø 5 Ø x Ø 4 H7, depth Ø C L S R 3 P 8 x M5, depth T 3 A Working range Point P View Ø1 1 x Air Internal user wiring connector Media connector 8 x M4, depth View C R R173 4 x Ø R x M5, depth 11 2 x M6, depth 12 1 x M6, depth 1 4 x M6, depth 12 4 x M6, depth 14 2± x Ø 12 H7 17±.1 26± Free from corrosive gasses or liquids, or explosive gasses Free from exposure to water, oil or dust Free from excessive electrical noise (plasma) wrist load LT 6 Mounting options: Floor, ceiling, wall, tilt* Protection class: Main axes (S, L, U) IP54 (option 65), wrist IP67 *tilt with condition of angle see table below W = 1 kg W = 5 kg Robot installation angle [deg.] S-axis operating range [deg.] P-point axis 1 W = 25 kg W = 2 kg W = 15 kg L R-, T-axis U 3 ±17 degrees or less (no limit) 3 < U 35 ±6 degrees or less 35 < U 4 ±5 degrees or less 4 < U 45 ±45 degrees or less 45 < U 5 ±4 degrees or less 5 < U 6 ±35 degrees or less 6 < U ±3 degrees or less Specifications GP25 Axes motion range [º] speed [º/sec.] moment [Nm] moment of inertia [kg m 2 ] Controlled axes 6 Max. payload [kg] 25 S ±18 21 Repeatability [mm] ±.6 L +155/ Max. working range R [mm] 173 U +16/ Temperature [ºC] to +45 R ± Humidity [%] 2 8 ± Weight [kg] 25 T ± Power supply, average [KVA] 2, Conforms to ISO 9283 Varies in accordance with applications and motion patterns Note: SI units are used for specifi cations. All dimensions in mm

MOTOMAN GP25-12 2365 View A 4 5 139 2 83 281 15 182 1 114 86 U R 3 78 P T A Ø 5 Ø 62 6 Ø1 1 x Ø 4 H7, depth 6 22.

9 MOTOMAN GP View A U R 3 78 P T A Ø 5 Ø 62 6 Ø1 1 x Ø 4 H7, depth Ø x M5, depth 6 16 Type: -A11 15 C S L Working range Point P View 1 x Air Internal user wiring connector Media connector 8 x M4, depth View C R561 R x M5, depth x M6, depth 12 4 x M6, depth 12 4 x M6, depth R x Ø 18 2± x Ø 12 H ±.1 26± Free from corrosive gasses or liquids, or explosive gasses Free from exposure to water, oil or dust Free from excessive electrical noise (plasma) Mounting options: Floor, ceiling, wall, tilt* Protection class: Main axes (S, L, U) IP54 (option 65), wrist IP67 *tilt with condition of angle see table below wrist load P-point LT axis 1 W = 12 kg W = 6 kg W = 3 kg L R-, T-axis Robot installation angle [deg.] U 3 S-axis operating range [deg.] ±18 degrees or less (no limit) 3 < U 35 ±6 degrees or less 35 < U ±3 degrees or less Specifications GP25-12 Axes motion range [º] speed [º/sec.] moment [Nm] moment of inertia [kg m 2 ] Controlled axes 6 Max. payload (on U-axis) [kg] 12 (9) S ±18 21 Repeatability [mm] ±.8 L +155/ Max. working range R [mm] 21 U +16/ Temperature [ºC] to +45 R ± Humidity [%] 2 8 ± Weight [kg] 26 T ± Power supply, average [KVA] 2. Conforms to ISO 9283 Varies in accordance with applications and motion patterns Note: SI units are used for specifi cations. All dimensions in mm

Robot Controller & Software MOTOMAN YRC1 Industrial Robot Controller

transformer required) High path accuracy High efficiency Optimal

Specifications Controller YRC1 Dimensions 598 (W) x 49 (H) x 427 (D) mm

(possible to control three external axes) Cooling system Indirect

storage: 1 C to +6 C Relative humidity 9 % max.

Programming capacity Three-phase 38 44 VAC (+1 %, 15 %), 5/6 Hz Hz (±2

inputs and 4 outputs JO: 2, steps, 1, instructions / CIO ladder: 2,

10 Robot Controller & Software MOTOMAN YRC1 Industrial Robot Controller Key benefits Compact, fast and flexible Global standardization (no transformer required) High path accuracy High efficiency Optimal Industrial Design Volume: 125 liters Earlier models New model YRC1 Specifications Controller YRC1 Dimensions 598 (W) x 49 (H) x 427 (D) mm (125 l without protrusion parts) Mass 7 kg max. (possible to control three external axes) Cooling system Indirect cooling Ambient temperature During operation: C to +45 C / During storage: 1 C to +6 C Relative humidity 9 % max. (non-condensing) Improved Programming Pendant Power supply Digital I/Os Programming capacity Three-phase VAC (+1 %, 15 %), 5/6 Hz Hz (±2 %) Specialized signals: 19 inputs and 6 outputs / General signals: 4 inputs and 4 outputs JO: 2, steps, 1, instructions / CIO ladder: 2, steps Expansion slots 2 x PCIe or 2 x PCI or 1 x PCI/1 x PCIe LAN (Connection to host) 2 (1ASE-T/1ASE-TX) Interface RS-232C/RS422: 1 ch (used by switching)

MotoLogix Interface for MOTOMAN robot programming and control via PLC Key benefits Robot programming carried out in PLC language unified for the whole system Connects all peripheral devices (sensor,

accuracy (calculation in MOTOMAN controller) All YASKAWA DX2 and YRC1 robots can be controlled No Teach pendant nor YASKAWA robotics knowledge is required for robot programming and operation Data

robots Number of robots Number of MotoLogix systems per PLC Number of motions, userframes, tools Number of interference zones 32 Number of conveyors for Conveyor tracking Robot controller cycle time

ms * If the DX2 and YRC1 are equipped with a Functional Safety Unit (FSU) the amount of tools is limited to 16.

application) Vision System Camera & Software MotoSight2D KEY ENEFITS Camera: Direct communication with software MotoSight2D High speed and resolution Flexible mounting (on robot or free standing)

11 MotoLogix Interface for MOTOMAN robot programming and control via PLC Key benefits Robot programming carried out in PLC language unified for the whole system Connects all peripheral devices (sensor, camera, conveyor) through PLC Robot completely integrated in the PLC and HMI environment Testing of the complete PLC/HMI robot application using virtualization (MotoSim) Assurance of a YASKAWA path accuracy (calculation in MOTOMAN controller) All YASKAWA DX2 and YRC1 robots can be controlled No Teach pendant nor YASKAWA robotics knowledge is required for robot programming and operation Data stored in the PLC, not in the robot controller Control up to 16 axes over one MotoLogix interface Online-help is included in built in library Supported platforms: MotoLogix specifications Supported robots Number of robots Number of MotoLogix systems per PLC Number of motions, userframes, tools Number of interference zones 32 Number of conveyors for Conveyor tracking Robot controller cycle time All DX2 and YRC1 types Up to 4 robots (or 16 external axes) for each MotoLogix system Only limited by PLC and fieldbus capacity Only limited by PLC memory* Only limited by PLC hardware and memory 4 ms * If the DX2 and YRC1 are equipped with a Functional Safety Unit (FSU) the amount of tools is limited to 16. Data exchange for one MotoLogix system Required available PLC memory 436 byte consistent data is cyclically exchanged between PLC and each MotoLogix system > 512 kb (depends on complexity of application) Vision System Camera & Software MotoSight2D KEY ENEFITS Camera: Direct communication with software MotoSight2D High speed and resolution Flexible mounting (on robot or free standing) Several equipment available Software: Monitoring of up to 4 cameras Display camera image (live) on robot teach pendant Simple assignment of vision results to robot variables Storage of current jobs and images Model Technical data YASKAWA Cameras Resolution Processor speed Frame/Second Vision tools MS1 8 x 6 1 x ase model 12 MS2 8 x 6 3 x ase model 12 MS3 128 x x ase model 6 Limited Tool Set Pattern, Edge, lob, Circle, Curve, Histogram, Geometry, Image Filters, Standard Calibration (9-Points) Full Tool Set Pattern, Edge, lob, Circle, Curve, Histogram, Geometry, Image Filters, Standard Calibration (9-Points) PatMax (Geometric pattern matching technology), Advanced Calibration (non-linear calibration), and caliper tool, OCR, OCV; 2D Matix and arcode reading High Resolution & Full Tool Set Pattern, Edge, lob, Circle, Curve, Histogram, Geometry, Image Filters, Standard Calibration (9-Points) PatMax (Geometric pattern matching technology), Advanced Calibration (non-linear calibration), and caliper tool, OCR, OCV; 2D Matix and arcode reading

12 YASKAWA GROUP AT CZ ES FR FI YASKAWA Austria Schwechat/Wien +43() YASKAWA Czech s.r.o. Rudná u Prahy YASKAWA Ibérica, S.L. Gavà/arcelona YASKAWA France SARL Saint-Aignan-de-Grand-Lieu YASKAWA Finland Oy Turku +358-()-436 G YASKAWA UK Ltd. anbury IT IL NL PL YASKAWA Italia s.r.l. Torino YASKAWA Europe Technology Ltd. Rosh Ha ayin YASKAWA enelux.v. Son YASKAWA Polska Sp. z o.o. Wrocław RU 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 ARAMET ROOTICS Ltd. Yambol 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 HU Flexman Robotics Kft udapest LT Profibus UA Panevezys NO Skala Robotech AS Lierstranda PT ROOPLAN Lda Aveiro RO Sam Robotics srl Timisoara MPL Automation S.R.L. Satu Mare +4 () YASKAWA Headquarters YASKAWA Europe GmbH Robotics Division Yaskawastraße Allershausen, Germany Tel. +49 () 8166/9- Fax +49 () 8166/9-13 YASKAWA ACADEMY and sales office Frankfurt YASKAWA Europe GmbH Robotics Division Hauptstraße Eschborn, Germany Tel. +49 () 6196/ Fax +49 () 6196/ All dimensions in mm. Technical data may be subject to change without previous notice. Please request detailed drawings at robotics@yaskawa.eu.com. GP-Serie E , A-No robotics@yaskawa.eu.com

MOTOMAN GP-series. Handling & General Application. Controlled by YRC

MOTOMAN GP-series. Handling & General Application. Controlled by YRC MOTOMAN GP-series Handling & General Application Controlled by YRC1000 www.yaskawa.eu.com MOTOMAN GP-series Robot System Solutions MOTOMAN GP-series Find smart solutions for production site issues with