New Generation Robots MOTOMAN SDA, SIA Series

Transcription

1 New Generation Robots MOTOMN SD, SI Series Certified for ISO9001 and ISO14001 C E R T I F M N GE ME N T I E D SYSTE M C E R T I F M N GE ME N T I E D SYSTE M QMS ccreditation R009 QULITY SYSTEM JQ-0813 ENVIRONMENTL SYSTEM JQ-EM0924

2 Dual-arm Robot Slim ody and Slim rms for easy installation in same space as human workers The new dual-arm robot is designed to resemble the human figure. The robot has slim arms that are similar to a human s arms in size with seven joints in each arm. This human-size robot enables to replace the manual work to the automate operation without changing existing layout of the facility. The coordinated operation of seven axes for each arm and one at waist has made it possible to move efficiently with great dexterity requiring no further exclusive equipment for robots. 1. Human-like size and performance 2. Versatility Holding of workpieces with both arms Positioning Freely transfer workpieces from one to another Increased space in front of chest minimizes interference with other tools. roadened range of applications with slim body and 7-axis arms Independent control The hand must be changed according to the workpiece. 3. Internal user I/O wiring harness and air lines esides eliminating peripheral interference, the SD enabled complete offline simulation, too. Two arms handle many different workpieces without changing the hand. Product Line Dual-arm Robot 2 MOTOMN-SD5D/F : 5 kg/arm (10 kg/dual arms) MOTOMN-SD10D/F : 10 kg/arm (20 kg/dual arms) MOTOMN-SD20D/F : 20 kg/arm (40 kg/dual arms)

3 7-axis Single-arm Robot Slim rm for high level of freedom in narrow spaces The SI single-arm robot resembles a human arm. With seven joints like a human arm, the SI robot has a highly degree of freedom and it can bend, twist, or extend itself even in narrow spaces. This enables a space-saving, high-density layout. 1. Space-saving and high-density layout 2. Flexibility Installation in narrow spaces between machines is now possible. Optimal for high-density layouts. 7-axis robot requires less space than 6-axis robot. Elbow movement (unique and unprecedented feature in the industry) The 7-axis configuration has enabled the angle of the elbow to be changed without affecting the tool position or posture. Machine Machine Elbow moves with flange position unchanged. Installation example of 7-axis robot Installation example of 6-axis robot 3. Internal user I/O wiring harness and air lines esides eliminating peripheral interference, the SI enabled complete offline simulation, too. Flexible reach (to rear of workpiece) The arm s flexibility enables the SI robot to be installed in high-density layout without interference and to enter narrow spaces inaccessible to humans. Many installation options The SI robot can be installed in many ways without affecting functionality: on the floor, on the wall, on the ceiling, or on a slope. Product Line 7 -axis Single-arm Robot MOTOMN-SI5D/F : 5 kg MOTOMN-SI10D/F : 10 kg MOTOMN-SI20D/F : 20 kg MOTOMN-SI30D : 30 kg MOTOMN-SI50D : 50 kg 3

4 New MOTOMN Designs and pplications Designed to Reduce Human Workload for etter Labor & Pursuit of Human-Robot Coexistence pplications MOTOMN-SD Series Dual-arm Robot ssembly of utomobile Engine Distributing of Parts Coordinated Operation with Welding Robot Technical Consulting Improvement on Logistic process Dual arms for secure handling Continuous handling without a temporary stand or a reverse jig Distributing parts for each process Improvement on ssembling process Jigless assembly with dual arms Jigless positioning with dual arms High-accuracy assembly with high-speed, high-precision movements Sorting with Returnable Cases ssembly and Testing Other pplications ssembly of LCD panels ssembly of electrical appliances/ lighting ssembly of cable harnesses Handling, turning, and assembly of automotive parts Handling of lengthy automotive parts Transfer of beverage packs Transfer of returnable cases in containers For more information on how to introduce the new generation robots into your system, contact your nearest Yaskawa representative. 4

5 pplications 7-axis Single-arm Robot Improvement on Logistic process Installation in narrow spaces between machines Reach into narrow spaces Lifting operation (from a narrow space) Improvement on ssembling process ssembly in high-density layout of robots Coordinated assembling operation of several robots without interference MOTOMN-SI Series ttachment and Removal of Workpieces for NC Machines Handling between Machines in Limited Spaces Workpiece path When using a 6-axis robot Transfer of Workpieces 7-axis robot can go round to the backside. Example 1 : Transfer workpieces from right to left with only a single-arm robot Technical Consulting Eliminate wasted space with a 7-axis robot. ssembly with 7-axis Robots in High-Density Layout Coordinated operation of robots Example 2 : Transfer workpieces from front to rear in minimal space For more information on how to introduce the new generation robots into your system, contact your nearest Yaskawa representative. 5

6 Specifications and Dimensions Dual-arm Robot MOTOMN-SD5D/F Dual-arm 15 axes : 5 kg/arm (10 kg/dual arms) The MOTOMN-SD5D/F is a dual-arm robot with a 5 kg payload per arm (total load for dual-arm robot: 10 kg). For small parts assembly and handling applications, this robot allows a more compact facility layout. The arms have been slimmed by employing a newly developed miniaturized actuator for the wrist section, which comes closest to the parts and products. This has greatly reduced the interference of the arms with parts and products as well as interference between the two arms themselves. With a repetitive positioning accuracy of ±0.06 mm, the robot is ideal for small parts assembly processes that require delicate work to be performed with high accuracy dia dia. 0 hole 14 dia. hole (4 holes) 130± View 60± ± U R T E L S -xis S L E R -Side Connector Connector for internal S1 user I/O wiring harness IR-2 (lue) Outside dia.: 4 mm, Inside dia.: 2.5 mm -Side Connector Connector for internal S2 user I/O wiring harness IR-2 (lue) Outside dia.: 4 mm, Inside dia.: 2.5 mm : Enlarged views of the tip T U The narrowing of the motion range that usually results when downsizing a robot is avoided by an ingenious mechanism used for the arm joints, so maximum range is maintained. Inertia T-axis pprox. Mass Power Requirements 2 Model Repeatability 1 S-axis (lifting) E-axis (elbow twist) U-axis (upper arm) S-axis L-axis E-axis U-axis R-axis -axis (lifting) (lower arm) (elbow twist) (upper arm) (upper arm twist) (wrist pitch/yaw) (wrist twist) MOTOMN-SD5D/F 3 15 (rticulated) [ 7 axes for left arm ()7 axes for right arm () 1 rotary axis] 5 kg / arm ±0.06 mm : , : rad/s, 180 /s 4.01 rad/s, 230 /s 6.11 rad/s, 350 /s 14.7 Nm 14.7 Nm 7.35 Nm 0.45 kgm kgm kgm 2 110kg 1.4kV 0 Cto 40 C 1 : Conforms to JIS : The letter F at the end of the model number indicates that an FS100 controller is used to control the robot. When a DX100 controller is used, the model number will have the letter D at the end.

7 MOTOMN-SD10D/F Dual-arm 15 axes : 10 kg/arm (20 kg/dual arms) The MOTOMN-SD10D/F is human-sized and has two 7- axis arms that enable human-like movements. Capable of assembling and handling heavy objects up to 10 kg per arm (total load for dual-arm robot: 20 kg). Easily applicable to existing manufacturing lines because of its human-like size. Same level of capability as a human in assembling and handling heavy objects. Human-like flexibility of motions achieved by having two arms with 7 axes each and a rotary axis at the waist. High-precision movement for accuracy. Enhanced acceleration performance for reduced operating time. Independent control and operation of two arms for higher efficiency Lamp (optional) (505) View ± ± ±0.05 (505) Side Connector Side Connector 18 dia. hole 347.5± ±0.05 S1-1 Connector for internal (8 holes) dia. 0 hole S1-2 user I/O wiring harness (2 holes) IR-2 (lue) Outside dia.: 4 mm, Inside dia.: 2.5 mm S2-1 Connector for internal S2-2 user I/O wiring harness IR-2 (lue) Outside dia.: 4 mm, Inside dia.: 2.5 mm : Enlarged views of the tip Keep costs low as the two arms can transfer workpieces from arm to arm and turn them without using a temporary stand or a reverse jig. Model Repeatability 1 Inertia R-axis -axis T-axis pprox. Mass Power Requirements 2 ž ž S-axis (lifting) E-axis (elbow twist) U-axis (upper arm) S-axis (lifting) E-axis (elbow twist) U-axis (upper arm) (upper arm twist) (wrist pitch/yaw) (wrist twist) MOTOMN-SD10D/F 3 15 (rticulated) [ 7 axes for left arm ()7 axes for right arm () 1 rotary axis] 10 kg / arm ±0.1 mm rad/s, 400 /s 31.4 Nm 31.4 Nm 19.6 Nm 1.0 kgm kgm kgm 2 220kg 2.7kV 0 Cto 40 C 1 : Conforms to JIS : The letter F at the end of the model number indicates that an FS100 controller is used to control the robot. When a DX100 controller is used, the model number will have the letter D at the end. 7

8 Specifications and Dimensions Dual-arm Robot MOTOMN-SD20D/F Dual-arm 15 axes : 20 kg/arm (40 kg/dual arms) The MOTOMN-SD20D/F is a high-payload robot that is capable of handling heavy objects up to 20 kg per arm (total load for dual-arm robot: 40 kg). Same as the SD10D/F, the SD20D/F has 15 axes and realizes human-like flexibility of movement. Handling of heavy objects up to 20 kg per arm (total load for dual-arm robot: 40 kg). High-speed and high-precision operation. Human-like flexibility of motions achieved by having two arms with 7 axes each and a rotary axis at the waist. The design of the hands can be simplified even for holding large objects, because the two arms actually hold and carry the objects ± dia. hole (4 holes) View ± dia. 0 hole (2 holes) 215± ± ± Side Connector S1-1 Connector for internal S1-2 user I/O wiring harness IR-2 (lue) Outside dia.: 6 mm, Inside dia.: 4 mm -Side Connector S2-1 Connector for internal S2-2 user I/O wiring harness IR-2 (lue) Outside dia.: 6 mm, Inside dia.: 4 mm : Enlarged views of the tip Model Repeatability 1 ž Inertia R-axis -axis T-axis pprox. Mass Power Requirements 2 ž S-axis (lifting) E-axis (elbow twist) U-axis (upper arm) S-axis (lifting) E-axis (elbow twist) U-axis (upper arm) (upper arm twist) (wrist pitch/yaw) (wrist twist) MOTOMN-SD20D/F 3 15 (rticulated) [ 7 axes for left arm ()7 axes for right arm () 1 rotary axis] 20 kg / arm ±0.1 mm rad/s, 125 /s 6.98 rad/s, 400 /s 58.8 Nm 58.8 Nm 29.4 Nm 4.0 kgm kgm kgm 2 380kg 4.4kV 0 Cto 40 C 1 : Conforms to JIS : The letter F at the end of the model number indicates that an FS100 controller is used to control the robot. When a DX100 controller is used, the model number will have the letter D at the end.

9 Specifications and Dimensions 7-axis Single-arm Robot MOTOMN-SI5D/F Single-arm 7 axes : 5 kg The MOTOMN-SI5D/F features seven controlled axes with a 5 kg payload. Ideal for handling small objects in applications that require the robot to be installed in limited space, and where a high level of positioning accuracy is needed. High degree of motion like a human arm with its 7-axis arm. The arm has been slimmed by employing a newly developed miniaturized actuator for the wrist section, greatly reducing the interference of the arm with the workpiece. The narrowing of the motion range that usually results when downsizing a robot is avoided by an ingenious mechanism used for the arm joints, so maximum range is maintained. Light and weighs only 30 kg, so many installation choices are available: floor, ceiling, or wall. Environmental resistance: models with drip-proofing and for clean-room use are available. Drip-proof protection level: IP65 for arm and IP54 for base.(not acceptable to SI5D/F flange at tip. different model with a waterproof flange is available.) Cleanness level: ISO class 5 and complies with ISO standards when downflow of robot environment is 0.4 m/s or faster. Notes : 1. Conduct a warming-up operation when the robot is to be used at low temperatures (10 degrees Celsius or lower). 2. Contact Yaskawa Electric for details. y utilizing internal user I/O wiring harness and air lines integrated in the arm, layout can be planned offline without worrying about peripheral interference. (Internal user I/O wiring harness and air lines specifications: two air lines and eight-core cables) Note : External axis specification for a hand can be accommodated. Contact Yaskawa Electric regarding your requirements ± ± dia. 10 dia. hole (4 holes) ±0.02 U 85 View L dia. 0 hole (2 holes) ± R 105 dia. 80 dia. E S Connector for internal S1 user I/O wiring harness IR-2 (lue) Outside dia.: 4 mm, Inside dia.: 2.5 mm : Enlarged views of the tip T Model Repeatability 1 Inertia pprox. Mass Power Requirements 2 S-axis L-axis E-axis U-axis (upper arm) S-axis (turning) E-axis (elbow twist) U-axis (upper arm) (turning) (lower arm) (elbow twist) MOTOMN-SI5D/F 3 7 (Vertically articulated) 5 kg ±0.06 mm rad/s, 230 /s 6.11 rad/s, 350 /s 14.7 Nm 14.7 Nm 7.35 Nm 0.45 kgm kgm kgm 2 30kg 1.0kV 0 Cto 40 C 1 : Conforms to JIS : The letter F at the end of the model number indicates that an FS100 controller is used to control the robot. When a DX100 controller is used, the model number will have the letter D at the end. 9

10 Specifications and Dimensions 7-axis Single-arm Robot MOTOMN-SI10D/F Single-arm 7 axes : 10 kg The MOTOMN-SI10D/F is a 7-axis robot with a 10 kg payload and is more compact than the SI20D/F. Optimal for handling small objects in limited space. High degree of motion like a human arm with its 7-axis arm. The high flexibility of motion makes operation possible even in narrow spaces inaccessible to humans. Folds to compact size when not in use. Many installation options: on the floor, on the wall or on the ceiling. Optimal for handling small objects. Environmental resistance: models with drip-proofing and for clean-room use are available. Drip-proof protection level: IP65 for arm and IP54 for base.(not acceptable to SI10D/F flange at tip. different model with a waterproof flange is available.) Cleanness level: ISO class 5 and complies with ISO standards when downflow of robot environment is 0.4 m/s or faster. Notes : 1. Conduct a warming-up operation when the robot is to be used at low temperatures (10 degrees Celsius or lower). 2. Contact Yaskawa Electric for details. y utilizing internal user I/O wiring harness and air lines integrated in the arm, layout can be planned offline without worrying about peripheral interference. (Internal user I/O wiring harness and air lines specifications: two air hoses and twelve-core cables) Note : External axis specification for a hand can be accommodated. Contact Yaskawa Electric regarding your requirements ± ± (34) 14 dia. hole (4 holes) (264) View 67.5± T-axis 73 -axis R-axis 84.5 U-axis E-axis 100 L-axis S-axis dia. 0 hole (2 holes) dia. S1-1 S Connector for internal user I/O wiring harness IR-2 (lue) Outside dia.: 4 mm, Inside dia.: 2.5 mm : Enlarged views of the tip Model Repeatability 1 Inertia pprox. Mass Power Requirements 2 S-axis L-axis E-axis U-axis (upper arm) S-axis (turning) E-axis (elbow twist) U-axis (upper arm) (turning) (lower arm) (elbow twist) MOTOMN-SI10D/F 3 7 (Vertically articulated) 10 kg ±0.1 mm rad/s, 400 /s 31.4 Nm 31.4 Nm 19.6 Nm 1.0 kgm kgm kgm 2 60kg 1.5kV 0 Cto 40 C 1 : Conforms to JIS : The letter F at the end of the model number indicates that an FS100 controller is used to control the robot. When a DX100 controller is used, the model number will have the letter D at the end.

11 MOTOMN-SI20D/F Single-arm 7 axes : 20 kg With its unique arm form and 7 degrees of freedom, the MOTOMN- SI20D/F has achieved flexibility of movement that was impossible for robots till now. High degree of motion like a human arm with its 7-axis arm. The high flexibility of motion makes operation possible even in narrow spaces inaccessible to humans. Folds to compact size when not in use. Many installation options: on the floor, on the wall or on the ceiling. ssembles and handles heavy objects up to 20 kg. Environmental resistance: models with drip-proofing and for clean-room use are available. Drip-proof protection level: IP65 for arm and IP54 for base.(not acceptable to SI20D/F flange at tip. different model with a waterproof flange is available.) Cleanness level: ISO class 5 and complies with ISO standards when downflow of robot environment is 0.4 m/s or faster. Notes : 1. Conduct a warming-up operation when the robot is to be used at low temperatures (10 degrees Celsius or lower). 2. Contact Yaskawa Electric for details. y utilizing internal user I/O wiring harness and air lines integrated in the arm, layout can be planned offline without worrying about peripheral interference. (Internal user I/O wiring harness and air lines specifications: two air hoses and sixteen-core cables) Note : External axis specification for a hand can be accommodated. Contact Yaskawa Electric regarding your requirements. Lamp (optional) dia. 0 hole (2 holes) 14 dia. hole (4 holes) 60± ± View 60± S1-1 S1-2 T-axis axis R-axis 98 U-axis E-axis L-axis S-axis Connector for internal user I/O wiring harness IR-2 (lue) Outside dia.: 6 mm, Inside dia.: 4 mm : Enlarged views of the tip Model Repeatability 1 Inertia pprox. Mass Power Requirements 2 S-axis (turning) E-axis (elbow twist) U-axis (upper arm) S-axis (turning) E-axis (elbow twist) U-axis (upper arm) MOTOMN-SI20D/F 3 7 (Vertically articulated) 20 kg ±0.1 mm rad/s, 400 /s 58.8 Nm 58.8 Nm 29.4 Nm 4.0 kgm kgm kgm 2 120kg 2.2kV 0 Cto 40 C 1 : Conforms to JIS : The letter F at the end of the model number indicates that an FS100 controller is used to control the robot. When a DX100 controller is used, the model number will have the letter D at the end. 11

12 Specifications and Dimensions 7-axis Single-arm Robot MOTOMN-SI30D Single-arm 7 axes : 30 kg The MOTOMN-SI30D features seven controlled axes with a 30 kg payload. The wide range of motion and flexible movement expand the possible range of applications. High degree of motion like a human arm with its 7-axis arm. High-speed and high-precision operation. Folds to compact size when not in use. ssembles and handles heavy objects up to 30 kg. Many installation options: on the floor, on the wall or on the ceiling. Environmental resistance: model with drip-proofing is available. Protection level: IP65 for arm and IP54 for base. (Not acceptable to SI30D flange at tip. different model with a waterproof flange is available.) Notes : 1. Conduct a warming-up operation when the robot is to be used at low temperatures (10 degrees Celsius or lower). 2. Contact Yaskawa Electric for details. y utilizing internal user I/O wiring harness and air lines integrated in the arm, layout can be planned offline without worrying about peripheral interference. (Internal user I/O wiring harness and air lines specifications: two air hoses and eight-core cables) Note : External axis specification for a hand can be accommodated. Contact Yaskawa Electric regarding your requirements dia. hole (4 holes) ± View dia. 0 hole (2 holes) ± ± S1-1 S Connector for internal user I/O wiring harness IR-2 (lue) Outside dia.: 6 mm, Inside dia.: 4 mm : Enlarged views of the tip Model Repeatability 1 Inertia pprox. Mass Power Requirements 2 S-axis (turning) E-axis (elbow twist) U-axis (upper arm) S-axis (turning) E-axis (elbow twist) U-axis (upper arm) MOTOMN-SI30D 7 (Vertically articulated) 30 kg ±0.1 mm Nm Nm 58.8 Nm 6.0 kgm kgm kgm 2 345kg 2.8kV 0 Cto 40 C 1 : Conforms to JIS

13 SD, SI Series Controller Specifications Items Configuration Dimensions (W) (D) (H) DX100 Controller Dust proof MOTOMN-SD5DSD10DSD20D mm150 kg max.(possible to control 1 external axis.) MOTOMN-SI5DSI10DSI20D mm100 kg max.(possible to control 1 external axis.) FS100 Controller Standard : IP20 (open structure) Option : IP54 (dustproof housing) MOTOMN-SD5FSD10FSD20F mm (includes projecting parts.) 40 kg(possible to control 1 external axis.) MOTOMN-SI5FSI10FSI20F Mass MOTOMN-SI30DSI50D mm (includes projecting parts.) Cooling System Relative mm100 kg max.(possible to control 2 external axes.) Indirect cooling During operation : 0 C to +45 C During storage : 10 C to +60 C 90% max. (non-condensing) 20 kg(possible to control 1 external axis.) Direct cooling During operation : 0 C to +40 C During storage : 10 C to +60 C 90% max. (non-condensing) Power Supply Three-phase 200/220 VC (+10% to 15%), 60 Hz (±2%)(Japan) Three-phase 200/220 VC (+10% 15%)50/60 Hz Three-phase 200 VC (+10% to 15%), 50 Hz (±2%)(Japan) Single-phase200/230 VC (+10% 15%)50/60 Hz Grounding Digital l/os Positioning System Programming Capacity Grounding resistance : 100 Ω or less Specialized signals : 23 inputs and 5 outputs General signals : 40 inputs and 40 outputs Max. I/O (optional) : 2,048 inputs and 2,048 outputs y serial encoder JO : 200,000 steps, 10,000 instructions CIO ladder : 20,000 steps Grounding resistance : 100 Ω or less Specialized signals : 19 inputs and 2 outputs General signals : 28 inputs and 28 outputs Max. I/O (optional) : 1,024 inputs and 1,024 outputs y serial encoder JO : 10,000 steps, 1,000 instructions CIO ladder : 1,500 steps Expansion PCI : 2 slots for main CPUs and 1 slot for servo CPU Slots 1 additional slot for sensor board MP LN (Connection to Host) Interface Control Method Drive Units Painting Color Items 1(10SE-T100SE-TX) RS-232C : 1ch Software servo control Standard 6 axes and 2 additional single-axis amplifiers can be mounted (8 axes max.) Munsell notation 5Y7/1 (reference value) Programming Pendant 1(10SE-T100SE-TX) RS-232C : 1ch Software servo control Standard 6 axes and 1 additional single-axis amplifiers can be mounted. Munsell notation 5Y7/1 (reference value) Dimensions Mass Material Operation Device Display 169(W) 314.5(H) 50(D) 0.990kg Select keys, axis keys(8 axes),numerical/application keys, Mode switch with key (mode : teach, play, and remote), emergency stop button, enable switch, compact flash card interface device (compact flash is optional.),us port (1 port) pixels color LCD, touch panel(lphanumeric characters, Chinese characters, Japanese letters, ) IEC Protection Class IP65 Cable Length Standard : 8 m, Max. : 36 m (optional) Standard : 8 m, optional : 20 m max. : The programming pendant for the FS100 controller is optional. The model number of the programming pendant differs from that of the programming pendant for the DX100 controller.