Welding & Cutting Robot program
Masters of Robotics, Motion and Control
Welding & Cutting 3 Contents Controller DX200... 9 Welding & Cutting MS-series MS80W II... 13 MS100 II... 15 MS165... 17 MS210... 19 MA-series MA1440... 21 MA2010... 23
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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
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 200.000 steps, 10.000 instructions and 15.000 PLC steps Ethernet Graphit gray: RAL 7024 Light grey: RAL 7035
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 314.5 (H) x 50 (D) 5.7 colour LCD (640 x 480 pixels) 0.990 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. 200 1000 61.1 ottom cover 800 654 Air exhaust CEE Connector
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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 Welding & Cutting Motoman MS80W II 530 286 244 Connector for the external axis (encoder cable) Internal user wiring connector Media connector 1 x Air 4 x Cooling water 983 540 870 210 160 90 C 320 1025 175 L S 45 185 U R 155 P T A Working range Point P 1295 2456 3751 View A 6 Ø 50 6 10 View Ø 100 42 PCD 80 195 40 Ø 6 H7, depth 10 Ø 8 H7, depth 14 Internal user wiring connector Media connector 1 x Air 6 x M8, depth 14 1534 0 718 3770 2236 4 x Cooling water 98.5 50 100 4 x M8, depth 16 50 50 4 x M8, depth 16 View C 230±0.1 195±0.1 2 x Ø 12 H7 8 x Ø 22 50 R2236 R718 611.5 200 455 385 320 280 195±0.1 195±0.1 230 400 230±0.1 Allowable wrist load 153 455 608 400 50 kg 60 kg 70 kg 80 kg Mounting option: Floor P-point 200 L 200 400 LT T-, R-axis centre of rotation 200 400 600 800 -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 ±180 170 Repeat. pos. accuracy [ mm ] ±0.07 L +155/ 90 140 Max. working range R [ mm ] 2236 U +160/ 185 160 Temperature [ ºC] 0 to +45 R ±360 230 408 28 Humidity [%] 20 80 ±125 230 408 28 Weight [ kg ] 550 T ±360 350 206 10 Power supply, average [ KVA ] 4
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 Welding & Cutting Motoman MS100 II Internal user wiring connector Media connector 320 1020 200 2456 View A 7 Ø 125 289 256 257 546 5 x Air 1016 966 394 540 870 235 160 90 L Working range Point P 185 0 0 S C 45 U R 185 155 P T A 949 3751 Ø 31.5 H7 Ø 140 h6 View Internal user wiring connector Media connector 2 x Ø 100, depth 15 10 x M10, depth 15 5 x Air 1295 1536 1482 349 0 414 543 740 3773 2236 Allowable wrist load without flange LT P-point 800 600 400 200 50 kg 60 kg 80 kg 100 kg 246 92 16 60 98.5 100 with flange P-point 800 600 400 200 27.5 12.5 45 4 x M8, depth 14 2 x M5, depth 9 Flange for cabling 2 x M6, depth 11 4 x M8, depth 14 50 kg 60 kg 80 kg 100 kg R2236 View C 455 385 195±0.1 230±0.1 320 280 195±0.1 2 x Ø 12 8 x Ø 22 230 400 195±0.1 195±0.1 230±0.1 153 455 608 Mounting option: Floor -axis 400 600 800 1000 1200 1400 1600 R-, T-axis L -axis 600 800 1000 1200 1400 1600 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 ] 110 100 S ±180 140 Repeat. pos. accuracy [ mm ] ±0.07 L +155/ 90 110 Max. working range R [ mm ] 2236 U +160/ 185 130 Temperature [ ºC] 0 to +45 R ±360 ±205 175 721 696 60 58 Humidity [%] 20 80 ±125 ±120 175 721 696 60 58 Weight [ kg ] 625 T ±360 ±180 255 294 33.7 33 Power supply, average [ KVA ] 5.0
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 Welding & Cutting Motoman MS165 970 2702 3061 View A (275) 344 220 2450 60 90 Tube for field bus cable 4 325 1225 250 P S L U 19 R Working range Point P 76 T R2411 147 153 650 1150 300 2253 A 957 928 598 407 9 9 8 1 x Air Ø 63H7 View Ø 160h6 2 x Ø 10 H7, depth 8 2 x Ø 9 H7, depth 8 30 92 125 6 x M10, depth 14 6 x M10, depth 14 276 349 Tube for field bus cable C 562 577 709 713 762 1441 332 Internal user wiring connector Media connector R515 344 92 16 60 255 40 4 x M8, depth 14 2 x M5, depth 9 120 R713 230±0.1 40 450 210 290 250 210 4 x 2 x Ø22 2 x Ø 20 H7 500 420 320 27.5 12.5 45 2 x M6, depth 11 2 x 2 x M8, depth 14 Flange for cabling R2702 View C 250±0.1 185±0.1 Allowable wrist load without flange with flange 230±0.1 295±0.1 185±0.1 LT 1200 1000 800 600 400 P-point 200 40 kg 60 kg 80 kg 100 kg 130 kg 165 kg 180 kg LT 1200 1000 800 600 400 P-point 40 kg 60 kg 80 kg 100 kg 130 kg 165 kg Mounting option: Floor -axis 400 600 800 1000 1200 1400 1600 R-, T-axis L -axis 600 800 1000 1200 1400 1600 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 ] 180 165 S ±180 125 Repeat. pos. accuracy [ mm ] ±0.2 L +76/ 60 115 Max. working range R [ mm ] 2702 U +90/ 147 125 Temperature [ ºC] 0 to +45 R ±360 ±210 182 1000 951 90 88 Humidity [%] 20 80 ±130 175 1000 951 90 88 Weight [ kg ] 970 T ±360 ±210 265 618 46.3 Power supply, average [ KVA ] 5.0
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 Welding & Cutting Motoman MS210 970 2702 3061 View A (270) 344 220 2450 60 90 Tube for field bus cable 4 325 1225 250 P S L U 19 R Working range Point P 76 T R2411 147 153 650 1150 300 2253 A 957 928 598 407 9 9 8 1 x Air Ø 63H7 View Ø 180h6 2 x Ø 10 H7, depth 8 2 x Ø 9 H7, depth 8 300 92 125 6 x M10, depth 16 6 x M10, depth 16 276 349 Tube for field bus cable R515 C 562 R713 577 709 713 344 92 120 16 60 255 40 27.5 762 12.5 45 1441 4 x M8, depth 14 2 x M5, depth 9 2 x M6, depth 11 2 x 2 x M8, depth 14 Flange for cabling R2702 332 Internal user wiring connector Media connector View C 230±0.1 40 450 210 290 250 210 4 x 2 x Ø22 2 x Ø 20 H7 500 420 320 250±0.1 185±0.1 Allowable wrist load without flange LT 1200 60 kg with flange LT 1200 60 kg 230±0.1 295±0.1 185±0.1 1000 800 80 kg 100 kg 1000 800 80 kg 100 kg Mounting option: Floor P-point 600 400 200 130 kg 165 kg 210 kg P-point 600 400 200 130 kg 165 kg 210 kg -axis 400 600 800 1000 1200 1400 1600 R-, T-axis L -axis 600 800 1000 1200 1400 1600 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 ] 225 210 S ±180 120 Repeat. pos. accuracy [ mm ] ±0,2 L +76/ 60 97 Max. working range R [ mm ] 2702 U +90/ 147 115 Temperature [ ºC] 0 bis +45 R ±360 ±210 145 1372 1323 145 143 Humidity [%] 20 80 ±125 145 1372 1323 145 143 Weight [ kg ] 1000 T ±360 ±210 220 735 84 Power supply, average [ KVA ] 5,0
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 Welding & Cutting Motoman MA1440 1734 View A 196.4 79 198.5 450 614 200 100 84 D 90 L 155 640 100 U 155 R T P Working range Point P A 705 299 0 2511 Ø 50 View Ø 4 H7, depth 6 Ø 62 5 2 x Air 128 22.5 128 8 x M4, depth 8 PCD 56 Please note wall mounting option: +/ 30 S-axis limit Please note ceiling mounting option: Depends on -axis position 1129 848 606 C 206 0 S 170 410 R410 4 x M6, depth 14 1440 361 777 Internal user wiring connector Media connector View C 4 x Ø 18 300 260 240 132±0.1 60 300 292 60 102±0.1 260 130±0.1 132±0.1 26 153 13 45 170 R410 R1440 1 x Ø 12 H7 2 x Ø 16 H7 100±0.1 102±0.1 153±0.1 Mounting options: Floor, wall, ceiling View D Allowable wrist load Ø 50 2 x Air P-point LT 200 100 (179.54) W=3 kg (357.109) Internal user wiring connector Media connector W=6 kg -axis 100 200 100 R-, T-axis 300 400 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 ±170 230 Repeat. pos. accuracy [ mm ] ±0.08 L +155/ 90 200 Max. working range R [ mm ] 1440 U +240/ 175 230 Temperature [ ºC] 0 to +45 R ±150 430 10.5 0.28 Humidity [%] 20 80 A00: +90/ 135 A10: +135/ 90 430 10.5 0.28 Weight [ kg ] 130 T ±210 630 3.2 0.06 Power supply, average [ KVA ] 1.5
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. 2010 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 Welding & Cutting Motoman MA2010 2365 View A 405 50 139 135 266 229 495 100 505 760 200 281 84 220 150 1082 100 114 U R 105 C D L S 170 86 155 14 88 P T Working range Point P A 850 199 0 568 3649 Ø 50 View 2 x Air 8 x M4, depth 8 Ø 4, depth 6 Ø 62 Ø 100 56 Internal user wiring connector Media connector 22.5 Welding power source terminal board (optional) 1284 View C 375 1710 1287 1284 335 316 200±0.1 4 x Ø 18 60 200±0.1 292 170±0.1 60 335 375 2 x Ø 12 260±0.1 Mounting options: Floor, wall, ceiling 28.5 4 x M8, depth 16 6 15 48 15 792 559 0 561 2010 Please note wall mounting option: +/ 30 S-axis limit Please note ceiling mounting option: Depends on -axis position 26 13 180 R561 180 15 45 168 917 70 100 130 70 165 4 x M6, depth 14 95 85 2 x M6, depth 12 4 x M6, depth 12 R2010 180 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 ±180 197 Repeat. pos. accuracy [ mm ] ±0.08 L +155/ 105 190 Max. working range R [ mm ] 2010 U +220/ 170 210 Temperature [ ºC] 0 to +45 R ±150 410 22 0.65 Humidity [%] 20 80 A00: +90/ 135 A10: +135/ 90 410 22 0.65 Weight [ kg ] 280 T ±210 610 9.8 0.17 Power supply, average [ KVA ] 2.0
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YASKAWA Headquarters YASKAWA Europe GmbH Robotics Division Yaskawastraße 1 D-85391 Allershausen Tel. +49 (0) 8166/90-0 Fax +49 (0) 8166/90-103 YASKAWA academy and sales office Frankfurt YASKAWA Europe GmbH Robotics Division Hauptstraße 185 D-65760 Eschborn Tel. +49 (0) 6196/77725-0 Fax +49 (0) 6196/77725-39 YASKAWA GROUP A CZ E F YASKAWA Austria Schwechat/Wien +43(0)1-707-9324-15 YASKAWA Czech s.r.o. Rudná u Prahy +420-257-941-718 YASKAWA Ibérica, S.L. Gavà/arcelona +34-93-6303478 YASKAWA France SARL Saint-Aignan-de-Grand-Lieu +33-2-40131919 FIN YASKAWA Finland Oy Turku +358-(0)-403000600 G YASKAWA UK Ltd. anbury +44-1295-272755 I IL NL YASKAWA Italia s.r.l. Torino +39-011-9005833 YASKAWA Europe Technology Ltd. Rosh Ha ayin +972-3-9004114 YASKAWA enelux.v. E Son +31-40-2895500 RUS YASKAWA Nordic A Moskva +46-480-417-800 SE SI TR ZA YASKAWA Nordic A Torsås +46-480-417-800 YASKAWA Slovenia Ribnica +386-1-8372-410 YASKAWA Turkey Elektrik Ticaret Ltd. Sti. İstanbul +90-216-5273450 YASKAWA Southern Africa (PTY) Ltd Johannesburg +27-11-6083182 DISTRIUTORS G Kammarton ulgaria Ltd. Sofia +359-02-926-6060 CH Messer Eutectic Castolin Switzerland S.A. Dällikon +41-44-847-17-17 DK EE Robotcenter Danmark Løsning +45 7022 2477 RKR Seadmed OÜ Tallinn/Estonia +372-68-35-235 GR Gizelis Robotics Nea Kifissia +30-2106251455 H LT N PL PT Flexman Robotics Kft udapest +36-30-9510065 Profibus UA Panevezys +370-45-518575 Skala Robotech AS Lierstranda +47-32240600 Integrator RHC Sp. z o.o. Torun +48-56-6519710 ROOPLAN Lda Aveiro +351-234 943 900 RO Sam Robotics srl Timisoara +40-720-279-866 RO MPL Automation S.R.L. Satu Mare +40 (0) 261 750 741 robotics@yaskawa.eu.com www.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-08-2015, A-No. 175202