MOTOMAN-MPP and MPK Series

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Handling Robot for Picking and Packing MOOMN-MPP and MPK eries 13 2 333 www.ragroup.com.au FERE NEW CONROER.

1 Handling Robot for Picking and Packing MOOMN-MPP and MPK eries FERE NEW CONROER... DX2 : Patented multiple robot control (up to 8 robots/72 axes) Dynamic interference zones protect robot Faster processing, high performance Reduces teaching time Provides up to 2% energy savings or Compact F1 : Designed as an open controller afe, fast, flexible and energy-efficient Certified for IO1 and IO141 QM ccreditation R9 JQ-813 JQ-EM924

2 he MOOMN-MPP and MPK series offer logistics with automated transfer systems for the picking and packing processes. Example of food manufacturing Picking 1 Picking 2 Packing Palletizing Food manufacturing machine Placing one or two products at a time on a tray or in a box agging products and boxing small wrapped products Packing one row or layer of products in a box tacking boxes on pallets Payload (kg) Feeder for small containers MOOMN-MPP3 MPP3H Packaging machine Feeder for large cardboard boxes MOOMN-MPK2F MPK2F- MOOMN-MP eries MOOMN-MPK Handling Capacity (Cycle Per Minute) : For details, refer to the catalog for the MOOMN-MP eries (KEP C946 1). Picking MOOMN- MPP3, MPP3H High productivity he MPP series of robots can be installed in close proximity in a small space. s the best in their class, they also enable high-speed handling with a large motion range and improve productivity. 1 cpm 2 with a 3 kg load and 23 cpm 3 with a 1 kg load are possible. llowable inertia of the wrist is.17 kg m 2, and high-speed handling with two hands is possible. 1 : Handling in dept cycle (2 mm 3 mm 2 mm) without positioning limit. Does not include the time for using suction to grab a workpiece. 2 : Cycle per minute 3 : With a limit in continuous operations Wiring and piping work can be easily performed through the hollow section(8 mm dia. ) located at the center of the body. Flexible and high-speed handling is maximized by using a function specially designed to synchronize two conveyors, the vision function and the production management function. Even higher productivity can be achieved with Yaskawa's original robot design Cycle times can be reduced with shorter suction time in addition to high-speed robot movements. he hollow structure of the robot (first in the industry) enables the installation of air valves inside the parallel link arms. he structure shortens the length of piping drastically, which achieves a reduction in the cycle time. arge motion range with a small installation space MPP3 Range of motion 8mm(dia.) 2mm(H) Footprint 6mm(dia.) MPP3H Range of motion 13mm(dia.) 3mm(H) argest motion range in robots with 3kg payload Footprint 7mm(dia.) mallest footprint in robots with 3kg payload High level of cleanliness he MPP series of robots are designed to maintain high level of cleanliness for food handling. all joints are free of grease because self-lubricating material approved by the Food anitation aw of Japan is used. ecause they can be mounted on ceilings and maintenance is done from the top downwards, damage or contamination of workpieces and conveyors is prevented if a work tool, part, or grease falls during maintenance. he surface of the body, excluding arms, is smooth and easy to clean. Can be washed with acid- or alkaline-based disinfectant. Clean Class: IO class : Conforms to IO standards (he above of the wrist flange surrounded by a down flow of.4m/s or more.) 2 MPP3 certified for cleanroom application by Fraunhofer IP. MPP3H under application for Fraunhofer IP cleanroom certification.

3 Picking MOOMN- MPK2F, MPK2F- High productivity High level of cleanliness High flexibility in layout design With the fastest motion speed in its class, the MOOMN-MPK2 and MPK2F can quickly transfer many workpieces in a short period. mooth, continuous operation is possible with high precision. High-speed positioning imultaneous positioning & transfer Max. speed of -axis increased to 2 /s Countermeasures against contamination Manipulator s high level of cleanliness guarantees sa ety and sanitation of the transferred products. Protection against corrosion & dust Exposed parts made from corrosion-resistant materials with surface treatment and washable coating Cable and hoses protected in hollow shaft of arm Protection against lubricants Multi-layered sealing construction on all drive shafts Food-grade lubricant used (NF H1 registered) pace-saving installation High-speed, continuous operation 2 mm 3 mm Motion pattern 1 (Picking pattern) 2 mm 14 mm 13 mm 2 mm Motion pattern 2 (Packing pattern) Washability (Disinfectant) No depressions of grooves to hold dirt Particles do not collect or adhere. Cycle time Motion pattern 1.47 s (128 cycles/min: 2 kg) Motion pattern 2.86 s (7 cycles/min: 2 kg) : Does not include the time for grabbing and releasing a workpiece. tain-resistant surface and structure, washable coating, and water proofing against daily disinfectant washing. Protection against dirt & particles Protection against disinfectant washing Washable coating withstands daily washing Can be washed with disinfectants, including acidic or alkaline liquids. Water-proof performance conforms to IP67 specifications (with tools mounted). Enables flexibility regardless of space restrictions or installation method for high-density layouts. ll installation methods possible Dimensions Packing MOOMN- MPK On ceiling On walls On floors High productivity High-speed packing Increased efficiency by transferring and packing many workpieces from a single row or layer at one time. Packaging machine With a high payload and the highest speed in its class, many more workpieces can be picked up and packed in a short period of time. High-speed handling 12 6 Cycle time 1.1 s ( cycles/min: 3 kg) 4 9 Cycle time.6 s (1 cycles/min: 4 kg) Feeder pace-saving installation Motion pattern 1 Multi-purpose Motion pattern 2 : Does not include the time for grabbing and releasing a workpiece. Compact design increases usability in restricted spaces or in high-density layouts. hortened maximum width 6 (Maximum width) Minimized minimum turning radius R61 (Minimum turning radius) R71 R1893 -point -point maximum envelope With a high-payload, a wide motion range, and a wide variety of the components, the MOOMN-MPK can be used as a palletizing robot for small workpieces. Max. payload: kg Can transfer many workpieces at one time Wide motion range (Palletizing also possible) Maximum horizontal reach (-point): 1893 mm, Vertical motion range: 1668 mm, -axis turning range: Wide variety of components One cable (23-core), two air hoses (dia.: 1 mm), and one tube for field-bus cable (dia.: 12 mm) accommodated in hollow arm. Protection Class ody: IP4 (optional: IP6), Wrist: IP67 Options Food-grade lubricant for food machinery 3

4 High-speed Compact Controller for Handling F1 Can be used with robots with a 2 kg payload or less. Optimum controller for handling and assembly he F1 robot controller is compact controller with improved performance and functions optimized for handling and assembly. Fits in a 19 inch rack and can be installed under conveyors. Improved performance and high-speed control obtained by improving resolutions for I/O commands as well as by reducing time for ladder scanning. High-speed positioning achieved by suppressing vibration of hands (MPP3/MPP3H/MPK2F/MPK2F-). Commands specifically designed for workpiece handling with synchronized conveyors. Open controller he F1 robot controller offer an environment and functions that enable users to develop optimum application programs for their own use. MotoPlus Functions Motomanync Optional llows users to customize application programs for robot control sers can create robot control programs in C and install them in the controller. Descriptions llows users to directly control the F1 controller from the host controller by using the F1 as servers. Robots can be controlled directly from the host computer. Provide the function to develop application programs for the programming pendant Pendant Customization WindowsCE application programs developed by users can be Optional incorporated in the programming pendant. : Compatible with Contrologix and Compactogix controllers. Remarks MotoPlusDE (development environment) is optional. Compatible host computers: Windows, MP32 controllers, Rockwell PC Hardware Options Programming pendant External axis (max.: 2 axes) I/O module (28 points, NPN or PNP) Counter module (2 channels) nalog input module (8 channels) nalog output module (4 channels) Major fieldbus interface boards DeviceNet (master/slave), CC-ink (slave), PROFI (slave), Ethernet/IP (slave, I/O communications) Optional Functions Conveyor synchronization Vision function CP External reference point control Relative job Independent control Coordinated control earch ervo float utomatic backup Energy saving mode (with servomotor turn off limit) oftware pendant Network (data transfer, FP, Ethernet server) ilingual display (hown in the required language.) 4

5 Controller DX2 his is a low floor-type of robot controller that can be stacked up. he amplifier for three external axes and other options that previously required attachment tools can now be housed inside a standard cabinet, reducing the required space for installation by up to %. he safety functions have been strengthened by improving the safety performance of the speed limiting function and tool switching monitoring function. afety Improved afety Functions safety fence can be installed in an area smaller than the robot motion area to save space. (New and optional function) Motion is limited to a set area by monitoring the position of the robot and tool. he Preventive Maintenance Function for peed Reducer can detect speed reducer faults. he Preventive Maintenance Function for Hardware can prompt you to replace hardware before it breaks. Easy Operation Editing or prohibiting editing instructions with the programming pendant makes controlling jobs easier. (JO ine Comment-Out Function, JO ine Edit-Protect Function, JO Folder Function) ave pace safety fence can be installed in an area smaller than the robot motion area to save space. (New and optional function) wo DX2 robot controllers can be stacked. Installation width can be reduced by 3% compared with two DX1 controllers installed side-by-side. : ome models are excluded. Picking & Packing oftware MotoPick Optional MotoPick provides support for picking and packing with the software applications specially designed for those operations. pattern for the arrangement of workpieces moving on a conveyor or a pattern for picking and placing operation can be easily selected or changed on a computer. his software helps improve overall productivity in conveyor lines. Vision function he camera connected to a computer running MotoPick can be adjusted and controlled. Data on positions of individual workpieces moving on a conveyor can automatically be obtained with the camera. Real time automatic scheduling he motion patterns of the robot in pick and place applications are controlled based on the position data of workpieces that have been obtained by the camera and transferred to the robot s controller. Conveyor ynchronization ystem for the MPP3H with F1 Robot Controllers F1 controller ransmit data on workpiece position MOOMM-MPP3H ray Workpieces Conveyor for placing Conveyor for picking MotoPick Camera Obtain data on workpiece position

6 MOOMN-MPK2F 2 kg payload, R mm maximum reach F1 Dimensions nits : mm : Maximum Envelope R P.C.D. 2 dia. 4 IR1 IR2 IR3 IR4 4 ir Hoses (OD = 4 mm, ID = 2. mm) R 1 R (fitting depth) dia. h apped holes M6 (4 holes)(depth: 8.) (Pitch: 1.) dia. (1 hole)(depth: 6) View 7.6 Connector for internal user I/O wiring harness: RM1WRZ-1P (with cap) Matching connector: RM1WPZ-1 HIROE (provided by users) Reserved Cable (.2 mm 2 6 wires) 1 (Yellow) 2 (White) 3 (Red) 4 (lue) Pin Numbers (Green) 6 (Orange) : OD: Outside Diameter ID: Inside Diameter Enlarged View of ip 4-Inlet 4-P1/ ip View View C C dia. aseplate Hole 13±.1 17± ±.1 1±.1 17± dia. (4 holes) 6 dia. H7 (2 holes) (Depth: 6) Manipulator pecifications MOOMN- tandard ype ype uilt-in ase ype Controlled xis Payload Repeatability 1 Range of Motion Maximum peed -axis (turning) -axis (lower arm) -axis (upper arm) -axis (wrist pitch/yaw) -axis (wrist twist) -axis (turning) -axis (lower arm) -axis (upper arm) -axis (wrist pitch/yaw) -axis (wrist twist) MPK2F (for F1) YR-MPK2F- YR-MPK2F-1 (vertically articulated) 2 kg ±. mm rad/s, 32 /s.76 rad/s, 33 /s.76 rad/s, 33 /s 6.63 rad/s, 38 /s 34.9 rad/s, 2 /s llowable Moment llowable Inertia (GD 2 /4) Mass mbient Conditions -axis (wrist pitch/yaw) -axis (wrist twist) -axis (wrist pitch/yaw) -axis (wrist twist) emperature Humidity Vibration Others 3. N m 1. N m.6 kg m 2.12 kg m 2 72 kg C to +4 C 2% to 8%RH (non-condensing) 4.9 m/s 2 or less Free from corrosive gasses or liquids, or explosive gasses Free from exposure to oil, or dust. Free from excessive electrical noise (plasma) Power Requirements 2 2. kv 1 : Conforms to IO : Varies in accordance with applications and motion patterns. Note : I units are used for specifications. 6

7 MOOMN-MPK2F- kg payload, R mm maximum reach F1 Dimensions nits : mm : Maximum Envelope Floor-mounted ype, uilt-in ase ype : YR-MPK2F-1 Ceiling-mounted ype, uilt-in ase ype : YR-MPK2F-2 R229 R R R R R C (fitting depth) apped holes M6 (4 holes)(depth: 8.) 22.2 (Pitch: 1.) 6H7 dia. (1 hole) (Depth: 6) C dia. h6 12 dia. 2 dia ip IR1 IR2 IR3 IR ir Hoses (OD = 4 mm, ID = 2. mm) Reserved Cable (.2 mm 2 6 wires) 1 (Yellow) 2 (White) 3 (Red) 4 (lue) Pin Numbers (Green) 6 (Orange) : OD: Outside Diameter ID: Inside Diameter 223 Connector for internal user I/O wiring harness: RM1WRZ-1 (with cap) Matching connector: RM1WPZ-1P HIROE (provided by users) Inlet 4-Rc1/8 View Enlarged View of ip View View C View D dia. 6 13±.1 17± D 12 3 aseplate Hole 1±.1 17±.1 1± dia. (4 holes) 6 H7 dia. (2 holes) (Depth: 6) 6 Connector for internal user I/O wiring harness: RM1WRZ-1 (with cap) Matching connector: RM1WPZ-1P HIROE (provided by users) 1 7 ip Inlet 4-Rc1/8 Manipulator pecifications ype Controlled xis Payload Repeatability 1 -axis (turning) Range of Motion Maximum peed -axis (lower arm) -axis (upper arm) -axis (wrist pitch/yaw) -axis (wrist twist) -axis (turning) -axis (lower arm) -axis (upper arm) -axis (wrist pitch/yaw) -axis (wrist twist) YR-MPK2F-1 (floor-mounted type, built-in base type) MOOMN-MPK2F- YR-MPK2F-2 (ceiling-mounted type, built-in base type) (vertically articulated) kg ±. mm rad/s, 32 /s.76 rad/s, 33 /s.76 rad/s, 33 /s 6.63 rad/s, 38 /s 34.9 rad/s, 2 /s llowable Moment llowable Inertia (GD 2 /4) Mass mbient Conditions -axis (wrist pitch/yaw) -axis (wrist twist) -axis (wrist pitch/yaw) -axis (wrist twist) emperature Humidity Vibration Others 2.26 N m N m.6 kg m 2.12 kg m 2 72 kg C to +4 C 2% to 8%RH (non-condensing) 4.9 m/s 2 or less Free from corrosive gasses or liquids, or explosive gasses Free from exposure to oil, or dust. Free from excessive electrical noise (plasma) Power Requirements 2 1. kv 1 : Conforms to IO : Varies in accordance with applications and motion patterns. 3 : Motion range of the -axis is the angle of the -axis to the ground. In some postures, the motion range of the -axis may be limited depending on the relative angle to the upper arm. Note : I units are used for specifications. 7

8 MOOMN-MPP3/MPP3H 3 kg payload, 13 mm (dia.) 3 mm (H) maximum reach F1 Dimensions nits : mm 12 ±.1 R36 MOOMN-MPP3 12 dia. H7 (1 holes) (Depth: 1mm) (For positioning) 1 6 dia. 684 View : Maximum Envelope Conveyer installation direction Directions of conveyer length and axis must be the same (With equal intervals between three holes) 3 apped holes M16 (2 holes) (Depth: 32mm) For installing manipulator R1 3 R43 (With equal intervals between three holes) 3 apped holes M16 (Depth: 3mm) Hollow shaft dia.: 8 (8 dia.) (41 dia.) 12±.1 Recommended Range of Motion ϕ14 H3 -axis nit may vibrate when it moves outside the recommended range of motion. 6±.1 12 MOOMN-MPP3H dia. Hollow 8 dia. 12 dia.h7 2 holes (depth: 1 mm) Fixing apped hole for a Manipulator apped hole M16 (6holes) (depth: 32 mm) (equally-spaced) View R4 7 dia. R dia. 14 dia. 3 Conveyer Installation Direction ring Conveyer direction in line with -xis P-Point dia. 8 Manipulator pecifications ype Controlled xis Payload Repeatability 1 Repeatability (-axis rotation) Range of Motion Cycle ime for mm motion pattern Range of Motion -axis Mass IEC Protection Class Clean Class 8 dia. 8 dia. MOOMN llowable Inertia (GD 2 /4) GD 2 /4 MPP3 MPP3H YR-MPP3- YR-MPP3H- Parallel link (4 degrees of freedom) 3 kg ±.1 mm ±1 arc-min or less 8 mm (dia.) 2 mm (H) 13 mm (dia.) 3 mm (H) 1 kg: 23 cpm 2 3 kg: 1 cpm 1 kg :.13 kg/m 2 or less 3 kg :.17 kg/m 2 or less 9 kg IP67 IOclass 3 1 kg :.13 kg m 2 or less 2 kg :.9 kg m 2 or less 3 kg :.17 kg m 2 or less 11 kg R87 13 dia. MOOMN MPP3 MPP3H emperature C to +4 C Humidity 2% to 8%RH (non-condensing) Vibration 4.9 m/s 2 (.G) or less mbient Free from corrosive gasses or liquids, or Conditions explosive gasses Others Free from excessive electrical noise (plasma) Power Requirements 4 1. kv 1 : Conforms to IO : With a limit in continuous operations (No continuous operation limit: 18 cpm or less) 3 : Cleanroom standards: IO : MPP3 certified for cleanroom application by Fraunhofer IP. MPP3H under application for Fraunhofer IP cleanroom certification. : Varies in accordance with applications and motion patterns. Note : I units are used for specifications.

9 MOOMN-MPK kg payload, R1893 mm maximum reach DX2 Dimensions nits : mm : -point Maximum Envelope R61 R dia 63 dia. H7 (1 hole)(depth: ) 12 dia. h6 (1 hole)(depth: 6) apped holes M8 (6 holes)(depth: 12) 8 dia. H7 (1 hole)(depth: 1) R1893 apped holes M8 (4 holes)(depth: 16) View ube for Field bus Cables (ID=12 mm) (Robot base) ir Inlet (, ) 2 P3/8 with pipe plug R68 apped holes M12 (4 holes) (Depth: 2) 21 C point Connector for internal user I/O wiring harness (ase side): J PC (with cap) Matching connector: J (provided by users) 19± dia dia. H7(2 holes) View 23± View C 19± ±.1 23±.1 Manipulator pecifications ype Controlled xis Payload Repeatability 1 Range of Motion Maximum peed -axis (turning) -axis (lower arm) -axis (upper arm) -axis (wrist twist) -axis (turning) -axis (lower arm) -axis (upper arm) -axis (wrist twist) MOOMN-MPK YR-MPK-J 4 (vertically articulated) kg ±. mm rad/s, 18 /s 3.7 rad/s, 21 /s 3.7 rad/s, 21 /s 6.3 rad/s, 374 /s llowable Inertia (GD 2 /4) Mass mbient Conditions -axis (wrist twist) emperature Humidity Vibration Others. kg m 2 67 kg C to +4 C 2% to 8%RH (non-condensing) 4.9 m/s 2 or less Free from corrosive gasses or liquids, or explosive gasses Free from exposure to water, oil, or dust Free from excessive electrical noise (plasma) Power Requirements 2 4. kv 1 : Conforms to IO : Varies in accordance with applications and motion patterns. Note : I units are used for specifications. 9

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