MOTOMAN-EPH and EP Series

Transcription

1 Robot Optimized for Press Handling MOTOMAN-EPH and EP Series Certified for ISO91 and ISO141 QMS Accreditation R9 JQA-813 JQA-EM924

2 Pursuing of High-Effecient Handling between Presses Robot Optimized for Press Handling MOTOMAN-EPH and EP Series Manipulator Lineup in Accordance with Panel Size Press Pitch mm 11 4 Applicable Panel Size mm or more 4 to 5 5 to 6 EPH13D Series [EPH13D EPH13RLD] (12 to 8.5 SPM) 6 to 7 7 to 8 EP4D Series [EPH4D EP4D] (14.5 to 9 SPM) 8 to 9 SPM: Number of strokes per minute (including chuck.2s and release.1s) Features 1 Large-size and heavy panels can be 2 Realization of wide range of motions corresponds to the press line for handled at the highest speed in its class. large-size workpiece. (Handling between presses with a pitch: 6 to 8 m max.) Max. panel size: A panels (Size: mm, Mass: 5 kg) Handling at the highest speed in its class, Cycle time: 4.1s (Press pitch: 6 m) Upstream Press Panel Handling Downstream Press 35 mm 5 kg Press Pitch 15 mm 2

3 DX1 Controller Robot controller s higher instruction processing speed, increased functions, and slim profile minimize the space required for production equipment and improve productivity. The multi-window display function is added to the amazingly small and lightweight programming pendant to largely improve operability. 5.7-inch color LCD with touch panel Multi-window display Side: Compact flash card slot Back: USB port Axis keys (8 axes) DX1 Controller Items Configuration Dust proof MOTOMAN-EPH13D, EPH13RLD: 425 (W) 45 (D) 14 (H) mm 15 kg max. Dimensions and Mass (Possible to control two external axes) MOTOMAN-EPH4D, EP4D : 1 (W) 65 (D) 1591 (H) mm 4 kg max. (Not possible to control the external axis) Cooling System Ambient Temperature Relative Humidity Power Supply Grounding Indirect cooling During operation: C to +45 C/During storage: 1 C to +6 C 9% max. (non-condensing) Three-phase 2/22 VAC (+1% to 15%) at 6 Hz (±2%) (Japan) Three-phase 2 VAC (+1% to 15%) at 5 Hz (±2%) (Japan) Grounding resistance: 1 Ω or less Specialized signals: 23 inputs and 5 outputs Digital l/os General signals: 4 inputs and 4 outputs Max.I/O (optional) : 248 inputs and 248 outputs Positioning System Programming Capacity Expansion Slots LAN (Connection to Host) Interface Control Method By serial encoder JOB: 2, steps, 1, instructions CIO ladder: 2, steps max. PCI: 2 slots for main CPUs, 1 slot for servo CPU and 1additional slot for sensor board 1 (1BASE-T/1BASE-TX) RS-232C: 1ch Software servo control MOTOMAN-EPH13D, EPH13RLD: Standard 6 axes and 2 additional single-axis Drive Units amplifiers can be mounted. MOTOMAN-EPH4D, EP4D: Standard 3 axes and 3 wrist-axis amplifiers can be mounted. Painting Color Munsell notation 5Y 7/1 (reference value) Programming Pendant Items Dimensions 169 (W) (H) 5 (D) Mass.99 kg Material Reinforced plastics Select keys, axis keys (8 axes), numerical/application keys, Mode switch with key (mode: teach, play, and Oparation remote), emergency stop button, enable switch, Device compact flash card interface device (compact flash is optional.), USB port (1 port) pixels color LCD, touch panel Display (Alphanumeric characters, Chinese characters, Japanese letters, Others) IEC Protection IP65 Class Cable Length Standard: 8 m, Max.: 36 m (optional) 3

4 MOTOMAN-EPH13D Floor-mounted Vertically Articulated Robot (13 kg Payload) Capable of high-frequency handling applications with longer service life of the speed reducer. Extended reach allows the EPH13D to service presses with press pitches from 4 m to 7 m Dimensions Units: mm R68 (4612) C 42 6 B : P-point Envelope R R2651 A P-point (225 from Point P) 5 (23 from Point P) 22 1 T-axis flange (Moving side) B-axis flange (Fixed side) dia dia. 365± ±.5 125± View A: Wrist Flange View B: Baseplate View C: Connector Base dia ± dia. Air inlet A 29±.1 29± dia. (Depth: 8) dia. Hole (Depth: 8) 29±.1 29±.1 Air inlet B M1 Tapped holes (Depth: 14) 1 M1 Tapped holes (Depth: 18) dia dia. JL5-2A28-21PC (with cap) JL5-6A28-21S (provided by users) 4 Type Payload Repeatability 1 Range of Motion Speed MOTOMAN-EPH13D YR-EPH13D-A1 13 kg ±.2 mm rad/s, 13 /s 2.27rad/s, 13 /s 2.27rad/s, 13 /s 3.75rad/s, 215 /s 3.14rad/s, 18 /s 5.23rad/s, 3 /s 1 : Conforms to JIS B : Varies in accordance with applications and motion patterns. Note : SI units are used for specifications..5mm 2 34 Cable Connector with Cap Moment Inertia (GD 2 /4) Approx. Mass Ambient Conditions Temperature Humidity Vibration Others Mounting Method Power Requirements 2 4 M8 Tapped holes (Depth: 15) JL5-2A28-21SC (with cap) JL5-6A28-21P (provided by users) Connector Air outlet A Air outlet B MOTOMAN-EPH13D 735 N m 735 N m 421 N m 45 kg m 2 45 kg m 2 15 kg m kg to +45 C 2 to 8%RH (non-condensing) 9.8 m/s 2 or less Free from corrosive gasses or liquids, or explosive gasses Clean and dry Free from excessive electrical noise (plasma) Floor-mounted 7.5 kva

5 MOTOMAN-EPH13RLD Shelf-mounted Vertically Articulated Robot (13 kg Payload) Capable of high-frequency handling applications with longer service life of the speed reducer. Extended reach allows the EPH13RLD to service presses with press pitches from 4 m to 7 m. Easy to replace a press die. Dimensions Units: mm : P-point Envelope R131 R dia (Depth: 8) 2 9 dia. (Depth: 8) dia dia M1 Tapped holes (Depth: 12) M1 Tapped holes (Depth: 12) 18 View A: Wrist Flange ± dia Air outlet B 35± dia. 29±.129± ±.1 29± dia C B A P-point View B: Baseplate Air inlet A Air inlet B JL5-2A28-21PC (with cap) JL5-6A28-21S (provided by users) View C: Connector Base 214 Type Payload Repeatability 1 Range of Motion Speed MOTOMAN-EPH13RLD YR-PH13RLD-A 13 kg ±.3 mm rad/s, 11 /s 1.92rad/s, 11 /s 1.92rad/s, 11 /s 3.75rad/s, 215 /s 3.14rad/s, 18 /s 5.23rad/s, 3 /s 1 : Conforms to JIS B : Varies in accordance with applications and motion patterns. Note : SI units are used for specifications Moment Inertia (GD 2 /4) Approx. Mass Ambient Conditions Temperature Humidity Vibration Others Mounting Method Power Requirements 2.5mm 2 34 Cable Connector with Cap MOTOMAN-EPH13RLD 735 N m 735 N m 421 N m 45 kg m 2 45 kg m 2 15 kg m kg to +45 C 2 to 8%RH (non-condensing) 9.8 m/s 2 or less Free from corrosive gasses or liquids, or explosive gasses Clean and dry Free from excessive electrical noise (plasma) Shelf-mounted 7.5 kva 5

6 MOTOMAN-EPH4D Shelf-mounted Vertically Articulated Robot (2 kg Payload) Capable of high-frequency handling applications with longer service life of the speed reducer. Extended reach allows the EPH4D to service presses with press pitches from 6 m to 8.5 m. Can handle A panels at the highest speed in its class. Easy to replace a press die. Dimensions Units: mm 15 Left side (Note) Right side R133 : P-point Envelope 5 R355 (255 from Point P) (227 from Point P) dia dia. (Depth: 8) B-axis flange (Fixed side) dia dia. 1 3 T-axis flange (Moving side) 12 3 View A: Wrist Flange 6 M8 (Depth: 15) 9 M1 (Depth: 15) 8 M1 (Depth: 18) B C P-point Servo ON indicating lamp (optional) A dia. Reamer 35± Air inlet A Note: The direction of the power cable slot varies with the manipulator type. YR-EPH4D- J: Right side position K: Back side position L: Left side position 41± ± View B: Baseplate Air inlet B ± View C: Connector Base dia. Reamer dia. JL5-2A28-21PC (with cap) JL5-6A28-21S (provided by users).5mm 2 34 Cable Connector with Cap 6 Type Payload Repeatability 1 Range of Motion Speed MOTOMAN-EPH4D YR-EPH4D- 2 kg 3 ±.5 mm rad/s, 9 /s 1.57rad/s, 9 /s 1.57rad/s, 9 /s 1.4rad/s, 8 /s 3 1.4rad/s, 8 /s 2.79rad/s, 16 /s 1 : Conforms to JIS B : Varies in accordance with applications and motion patterns. 3 : If a parallel-linked arm is mounted on the T-axis for the MOTOMAN-EPH4D, contact your Yaskawa representative. Moment Inertia (GD 2 /4) Approx. Mass Ambient Conditions Temperature Humidity Vibration Others Mounting Method Power Requirements 2 MOTOMAN-EPH4D 1274 N m N m 4 N m kg m kg m kg m kg to +45 C 2 to 8%RH (non-condensing) 9.8 m/s 2 or less Free from corrosive gasses or liquids, or explosive gasses Clean and dry Free from excessive electrical noise (plasma) Shelf-mounted 22 kva 4 : Shows the allowable inertia if a parallel-linked arm is mounted on the T-axis for the EPH4D (including a parallel-linked arm and workpiece). The allowable inertia under a load for the T-axis is based on the condition that the EPH4D handles a workpiece in a horizontal position (with the wrist flange pointing down). Note : SI units are used for specifications.

7 MOTOMAN-EP4D Shelf-mounted Vertically Articulated Robot (2 kg Payload) Extended reach allows the EP4D to service presses with press pitches from 6 m to 8.5 m. Can handle A panels at the highest speed in its class. Easy to replace a press die. Dimensions Units: mm 15 : P-point Envelope (255 from Point P) (227 from Point P) B-axis flange (Fixed side) 8 8 (Note) R133 R dia dia. (Depth: 8) 17 dia dia T-axis flange (Moving side) View A: Wrist Flange 6 M8 (Depth: 15) 9 M1 (Depth: 15) 8 M1 (Depth: 18) B C A P-point Servo ON indicating lamp (optional) dia. Reamer 35± Air inlet A Note: The direction of the power cable slot varies with the manipulator type. YR-EP4D- J: Right side position K: Back side position L: Left side position 41± ± View B: Baseplate ± dia. Reamer dia. Air inlet B JL5-2A28-21PC (with cap) JL5-6A28-21S (provided by users) View C: Connector Base.5mm 2 34 Cable Connector with Cap Type Payload Repeatability 1 Range of Motion Speed MOTOMAN-EP4D YR-EP4D- 2 kg 3 ±.5 mm rad/s, 9 /s 1.57rad/s, 9 /s 1.57rad/s, 9 /s 1.4rad/s, 8 /s 3 1.4rad/s, 8 /s 2.79rad/s, 16 /s 1 : Conforms to JIS B : Varies in accordance with applications and motion patterns. 3 : If a parallel-linked arm is mounted on the T axis for the MOTOMAN-EP4D, contact your Yaskawa representative. Moment Inertia (GD 2 /4) Approx. Mass Ambient Conditions Temperature Humidity Vibration Others MOTOMAN-EP4D 1274 N m N m 4 N m kg m kg m kg m kg to +45 C 2 to 8%RH (non-condensing) 9.8 m/s 2 or less Free from corrosive gasses or liquids, or explosive gasses Clean and dry Free from excessive electrical noise (plasma) Shelf-mounted 22 kva Mounting Method Power Requirements 2 Shows the allowable inertia if a parallel-linked arm is mounted on the T-axis for the EP4D (including a 4 : parallel-linked arm and workpiece). The allowable inertia under a load for the T-axis is based on the condition that the EP4D handles a workpiece in a horizontal position (with the wrist flange pointing down). Note : SI units are used for specifications. 7

8 MOTOMAN-EPH and EP Series Sales Department HEAD OFFICE 2-1 Kurosaki-Shiroishi, Yahatanishi-ku, Kitakyushu, Fukuoka 86-4, Japan Phone: Fax: YASKAWA America, Inc. 1 Automation Way, Miamisburg, OH 45342, U.S.A. Phone: Fax: YASKAWA Europe GmbH Kammerfeldstr. 1, 8591 Allershausen, Germany Phone: Fax: YASKAWA Nordic AB Bredbandet 1vån. 3 varvsholmen Kalmar, Sweden Phone: Fax: YASKAWA Electric (China) Co., Ltd. 12F, Carlton Bldg., No.21 HuangHe Road, HuangPu District, Shanghai 23, China Phone: Fax: YASKAWA SHOUGANG ROBOT CO., LTD. No.7 Yongchang North Road, Beijing E&T Development Area China 1176 Phone: Fax: YASKAWA Robotics India Limited #426, Udyog Vihar Phase-IV, Gurgaon, Haryana, India Phone: Fax: YASKAWA Electric Korea Co., Ltd 9F, Kyobo Securities Bldg., 26-4, Yeouido-dong, Yeongdeungpo-gu, Seoul , Korea Phone: Fax: YASKAWA Electric (Singapore) PTE Ltd 151 Lorong Chuan, #4-2A New Tech Park, Singapore Phone: Fax: YASKAWA Electric (Thailand) Co. Ltd. 252/246, 4th Floor Muang Thai-Phatra Office Tower 2 Rachadapisek Road, Huaykwang Bangkok, 132 Thailand Phone: Fax: YASKAWA ELECTRIC CORPORATION In the event that the end user of this product is to be the military and said product is to be employed in any weapons systems or the manufacture thereof, the export will fall under the relevant regulations as stipulated in the Foreign Exchange and Foreign Trade Regulations. Therefore, be sure to follow all procedures and submit all relevant documentation according to any and all rules, regulations and laws that may apply. are subject to change without notice for ongoing product modifications and improvements YASKAWA ELECTRIC CORPORATION. All rights reserved. LITERATURE NO. KAEP C945 3B Published in Japan March