Robot System Solutions Arc Welding Application MOTOMAN

Robot System Solutions
Arc Welding Application
MOTOMAN-AR Series
Compatible with YRC1000 Robot Controller
S o l u t i o n
MOTOMAN - AR Series
Certified for
ISO9001 and
ISO14001
QMS Accreditation
R009
JQA-0813 JQA-EM0202
Robot System Solutions
MOTOMAN - AR
Find smart solutions for your production site with
YASKAWA s cutting-edge robot systems.
AR
Improve
welding
quality
Reduce time for
start-up and
equipment
maintenance
Increase
productivity
Customer
needs for
diversified
applications
Improve equipment
installation,
operation, and
maintenance
Improve work
efficiency
Standardization of
equipment
2
Make
equipment
compact
S eries
S o l u t i o n
MOTOMAN - AR Series
YASKAWA has the answer
We can meet our customers diverse needs with
a wide range of functions and components.
Application
examples
Large and long workpieces, automobile suspensions, construction
machines, agricultural equipment, shipbuilding, steel beams, etc.
See application examples on page 4 and 5.
AR Series
Manipulators
See Solution 1
YRC1000
Robot Controller
MOTOPOS Series
Positioner
See Solution 4
See Solution 2
MOTOMAN-AR Series
Total Solution
MOTOPAC Series
Welding Package
See Solution 3
AR700
AR900
AR1440
AR1730
AR2010
YRC1000
3
Application Examples
YASKAWA s extensive know - how in robotics technologies
can meet the requirements of a wide range of systems.
Welding of small parts
Executed in minimum installation space
Our MOTOMAN robots achieve high-quality welding of small parts in a compact cell. By using welding robots with a
700-mm reach, small parts can be welded in minimum installation space.
The layout of each cell can
be changed easily by
installing a robot controller
and a welding power source
inside the cell.
High-quality welding of small
parts in a compact cell
Welding of long parts (ex. exhaust system parts)
High productivity and high-quality welding
By combining two MOTOMAN robots with welding positioner MOTOPOS, it is possible to execute station twin coordinated
welding. This enables high productivity and high-quality welding even for long exhaust system parts.
The positioner first adjusts the
workpiece s angle and position.
Next, the two robots weld the
workpiece by coordinating their
movements with the
movements of the positioner.
Station twin coordinated welding
4
Application
MOTOMAN - AR Series
High-density welding of automotive parts (underbody parts, etc.)
High productivity and high-quality welding
By combining three MOTOMAN robots with the welding positioner MOTOPOS for coordinated motion, it is possible to
achieve high-density, high-quality welding of automotive parts. Moreover, it leads to shorter cycle time as three robots weld
simultaneously.
Arc welding robot
(coordination between three robots)
The positioner holds the workpiece
at an optimum position and angle,
as it coordinates its movements with
the movements of the robots to
achieve high-speed and high-quality
welding.
Workpiece
Two-axis positioner
Coordination between three robots
and welding positioner
Welding of construction machinery parts
Simplification of transfer equipment and high-quality welding
Construction machinery parts can be welded efficiently using three MOTOMAN robots that operate in coordination with one
another. The two handling robots pick up the workpiece to transfer to optimum welding position. This enables to weld at
optimum position, securing steady welding quality. The robots transfer the workpiece upon completion of welding, which
simplifies transfer equipment.
Workpiece
Welding by one robot
To achieve high-quality
welding, two robots are used
to hold a workpiece and
another robot is used to weld.
Hold workpiece
with two robots
Coordinated welding without jig
5
Solution
1
MOTOMAN-AR Series Robot:AR700 and AR900, Compact and High Speed
Customer
needs
Increase productivity
Achieve high productivity with number 1 payloads and speeds in their classes
・A wide range of sensors and torches can be mounted with 7 kg/8 kg payloads
(class number 1) 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.
Customer
needs
Make equipment compact
Slim and easy to use body and arm structure enabling efficient installation space
・Slim manipulator body requires minimum installation space (minimizes L and U
■ Reduced interference radius when S-axis is turning
axis offset).
・Power cable can be connected at the bottom section, which reduces
interference with walls when compared with cable connections on the side of
the manipulator.
・Increased maximum reach and horizontal reach enables manipulator to operate
in wider work areas.
・Slim, straight, and symmetrical arm design minimize interference with peripheral
devices, even in small spaces.
Former model: MH5(L)SⅡ
Interference radius 182 mm
New model: AR700 and AR900
Interference radius 140 mm
■ Reduced interference radius when the wrist is turning
Power cable connection on the side and bottom (optional) of the manipulator
Customer
needs
Improve equipment installation, operation, and maintenance
Easy maintenance
・Zero position data can be saved
without the need to connect to a
battery when replacing wire harness.
・Number of cables and connectors
have been reduced for better work
efficiency.
Reduced wiring time
・Power cable is reduced to one cable,
which reduces wiring time.
6
Former model: MH5(L)SⅡ Interference radius 73 mm
New model: AR700 and AR900 Interference radius 67 mm
Easy-to-clean design
・Manipulator surface is designed to
prevent adherence of dust.
Rounded shape
and smooth
surface
Solution
1
MOTOMAN - AR Series
MOTOMAN-AR Series Robot:AR1440, AR1730, and AR2010,
World s Highest Speed in their Classes
Customer
needs
Increase productivity
Achieve high productivity with number 1 payload and speed in its class
・Productivity of customers equipment can be improved significantly with the robot s
Reduced
air-cut time
high speed (highest speed in 12 kg and 25 kg payload classes).
・Acceleration/deceleration control has been improved to achieve maximum
reduction of acceleration/deceleration times for all robot postures.
・Various sensors and servo torches can be mounted with it s high payload.
Customer
needs
The maximum
speed of AR1730
has been increased
by 30% (max.)
compared with the
former model.
Make equipment compact
Hollow arm structure enabling internal/external cable storage
・Hollow arm structure to store cables reduces operation
restriction due to cable interference, simplifies teaching, and
eliminates cable disconnection caused by interference.
・Either a internally mounted or externally mounted torch cable
can be selected. We provide the optimum cable installation for
your workpieces and equipment.
・Welding power cables can be stored in the S-axis, which
enables smart external cabling.
Maximum speed of AR1440 and AR2010 has been
*: increased
by 15% (max.) compared with the
former model.
■ Hollow arm
R-axis hollow arm: 50 mm dia.
T-axis hollow arm: 50 mm dia.
Best accessibility in its class
・Slim and hollow arm design minimizes interference with
■ Reduced interference area
peripheral devices even in small spaces.
・Arm design minimizes interference with surrounding equipment.
Former model
New model
Minimized interference radius of the wrist
Former model: MA1440 Interference radius 136 mm
MA2010 Interference radius 136 mm
New model: AR1440 Interference radius 120 mm
AR1730 Interference radius 138 mm
AR2010 Interference radius 120 mm
Customer
needs
Improve equipment installation, operation, and maintenance
Easy maintenance
・Zero position data can be saved without the need to connect to a battery when
replacing wire harness.
・Number of cables and connectors have been reduced for better work efficiency.
Reduced wiring time
・Power cable is reduced to one cable, which reduces wiring time.
7
MOTONAN-AR Series Specifications
AR700
AR900
: P-point Maximum Envelope
60 −0.030 dia.
Fitting
Depth:3
Install attachments
to this range
0
0
Install attachments
to this range
60 −0.030 dia.
Fitting
Depth:3
■Dimensions Units: mm
+0.018
12 0 dia.
Fitting Depth:5
+0.018
12 0 dia.
Fitting Depth:5
View A
0°
170°
7
3
3
R2
40
B
P-Point
L
330
2×Air outlet
(M5 tapped hole, with pipe plug)
is the operating limit when
air or the optional solenoid
valve is used.
B T A
View B
S
C
Effective working envelope
727
0
199
615
295
2×Air inlet
(Rc1/4 tapped hole,
with pipe plug)
440
80
1217
115
U R
115
2×Air outlet
(M5 tapped hole,
with pipe plug)
View B
B T A
P-Point
L
C
0
Connector for internal user
I/O wiring harness:
LF13WBRB-20P
Matching connector:
LF13WBP-20S*HIROSE*
(provided by users)
7
B
Connector for internal user
I/O wiring harness:
LF13WBRB-20P
Matching connector:
LF13WBP-20S*HIROSE*
(provided by users)
S
0
476
805
777
345
U R
115
0
1017 115
102
80
877
445
340
330
102
40
Connector for internal user
I/O wiring harness:
LF13WBRB-20S
Matching connector:
LF13WBLP-20PA*HIROSE*
(provided by users)
R92
170°
927
R7
2
170°
View A
233
9
9
R1
17
Connector for internal user
I/O wiring harness:
LF13WBRB-20S
Matching connector:
LF13WBLP-20PA*HIROSE*
(provided by users)
is the operating limit when a
matching connector is attached.
2×Air inlet
(Rc1/4 tapped hole,
with pipe plug)
View C
View C
Specifications
Type
Controlled Axis
Payload*1
Repeatability*2
Range of Motion
Maximum Speed
Allowable Moment
Allowable Inertia(GD2/4)
Approx. Mass
IEC Protection Class
Ambient Conditions
S -axis (turning)
L -axis (lower arm)
U -axis (upper arm)
R -axis (wrist roll)
B -axis (wrist pitch/yaw)
T -axis (wrist twist)
S -axis (turning)
L -axis (lower arm)
U -axis (upper arm)
R -axis (wrist roll)
B -axis (wrist pitch/yaw)
T -axis (wrist twist)
R -axis (wrist roll)
B -axis (wrist pitch/yaw)
T -axis (wrist twist)
R -axis (wrist roll)
B -axis (wrist pitch/yaw)
T -axis (wrist twist)
Temperature
Humidity
Vibration
Others
Power Requirements*3
Mounting*4
8
arm payload capacity will vary according to payload carried by wrist.
*12:: UConforms
to ISO 9283.
*3: Varies in accordance
with applications and motion patterns.
*4: There are motion limitations
on S-axis for wall, tilt mounting type.
*
Note: SI units are used for the specifications.
AR700
AR900
YR-1-06VX7-A00
YR-1-06VX8-A00
6 (vertically articulated)
6 (vertically articulated)
8 kg
7 kg
±0.02 mm
±0.03 mm
−170°− +170°
−170°− +170°
− 65°− +145°
− 65°− +145°
− 70°− +190°
− 70°− +190°
−190°− +190°
−190°− +190°
−135°− +135°
−135°− +135°
−360°− +360°
−360°− +360°
7.94 rad/s, 455°
/s
6.54 rad/s, 375°
/s
6.72 rad/s, 385°
/s
5.50 rad/s, 315°
/s
9.07 rad/s, 520°
/s
7.15 rad/s, 410°
/s
9.59 rad/s, 550°
/s
9.59 rad/s, 550°
/s
9.59 rad/s, 550°
/s
9.59 rad/s, 550°
/s
17.45 rad/s, 1000°
/s
17.45 rad/s, 1000°
/s
17 N・m
17 N・m
17 N・m
17 N・m
10 N・m
10 N・m
0.5 kg・m2
0.5 kg・m2
0.5 kg・m2
0.5 kg・m2
0.2 kg・m2
0.2 kg・m2
32 kg
34 kg
IP67
0˚C to +45˚C
20% to 80%RH (non-condensing)
4.9 m/s2 or less
Free from corrosive gas or liquid, or explosive gas or liquid
Free from excessive electrical noise (plasma)
Free from strong magnetic fields
1 kVA
Floor, wall, ceiling, tilt
Solution
1
MOTOMAN - AR Series
P-Point
L
188
93.5
450
2085
100
R
A
T B
P-Point
Main key
L
S
0
139
186.5
406
1730
185.5
0
1004
1430
1440
410
0
261
0
777
1129
Connector for internal user
I/O wiring harness:
JL05-2A20-29SC (with cap)
Matching connector:
JL05-6A20-29P
(provided by users)
U
B
S
B
0
0
1567
Connector for internal user
I/O wiring harness:
JL05-2A20-29SC (with cap)
Matching connector:
JL05-6A20-29P
(provided by users)
TB A
R
1345
614
1734
100
795
View B
Air inlet (A)
(Rc3/8 tapped hole,
with pipe plug)
505
200 81
640
U
150
200
Position of the internal
connector main key
155
Connector for internal user
I/O wiring harness:
JL05-2A20-29PC (with cap)
Matching connector:
JL05-6A20-29S
(provided by users)
View A
Air inlet (A)
(Rc3/8 tapped hole,
with pipe plug)
40
50 dia.
5
4
102
R4
10
R14
170°
Connector for internal user
I/O wiring harness:
JL05-2A20-29PC (with cap)
Matching connector:
JL05-6A20-29S
(provided by users)
View B
View A
Air inlet (A)
(Rc3/8 tapped hole, Position of
the internal
with pipe plug)
connector
main key
62 −0.019 dia.
Fitting Depth:5
100 dia.
5
4
6
760
170°
0
3
R17
R4
0
100 dia.
0
62 −0.019 dia.
Fitting Depth:5
0
50 dia.
Position of Air inlet (A)
the internal (Rc3/8 tapped hole,
connector with pipe plug)
main key
62 −0.019 dia.
100 dia.
AR1730
62 −0.019 dia.
100 dia.
AR1440
261 229
Specifications
Type
Controlled Axis
Payload*1
Repeatability*2
Range of Motion
Maximum Speed
Allowable Moment
Allowable Inertia(GD2/4)
Approx. Mass
IEC Protection Class
Ambient Conditions
S -axis (turning)
L -axis (lower arm)
U -axis (upper arm)
R -axis (wrist roll)
B -axis (wrist pitch/yaw)
T -axis (wrist twist)
S -axis (turning)
L -axis (lower arm)
U -axis (upper arm)
R -axis (wrist roll)
B -axis (wrist pitch/yaw)
T -axis (wrist twist)
R -axis (wrist roll)
B -axis (wrist pitch/yaw)
T -axis (wrist twist)
R -axis (wrist roll)
B -axis (wrist pitch/yaw)
T -axis (wrist twist)
Temperature
Humidity
Vibration
Others
Power Requirements*3
Mounting*4
arm payload capacity will vary according to payload carried by wrist.
*12:: UConforms
to ISO 9283.
*3: Varies in accordance
with applications and motion patterns.
*4: There are motion limitations
on S-axis for wall, tilt mounting type.
*
Note: SI units are used for the specifications.
AR1730
AR1440
YR-1-06VXH12-A01
YR-1-06VXH25-A01
6 (vertically articulated)
6 (vertically articulated)
12 kg
25 kg
±0.06 mm
±0.06 mm
−170°− +170°
−180°− +180°
− 90°− +155°
−105°− +155°
)*5 − 86°− +160°
− 85°− +150°(− 85°− +140°
)*5 −200°− +200°(−150°− +150°
)*5
−200°− +200°(−150°− +150°
)*5*6 −150°− +150°(−135°− +90°
)*5*6
−150°− +150°(−135°− +90°
)*5 −455°− +455°(−210°− +210°
)*5
−455°− +455°(−210°− +210°
4.53 rad/s, 260°
/s
3.67 rad/s, 210°
/s
4.01 rad/s, 230°
/s
3.67 rad/s, 210°
/s
4.53 rad/s, 260°
/s
4.63 rad/s, 265°
/s
8.20 rad/s, 470°
/s
7.33 rad/s, 420°
/s
8.20 rad/s, 470°
/s
7.33 rad/s, 420°
/s
12.2 rad/s, 700°
/s
15.44 rad/s, 885°
/s
22 N・m
52 N・m
22 N・m
52 N・m
9.8 N・m
32 N・m
0.65 kg・m2
2.3 kg・m2
0.65 kg・m2
2.3 kg・m2
0.17 kg・m2
1.2 kg・m2
150 kg
250 kg
Body: IP54, Wrist: IP67
0˚C to +45˚C
20% to 80%RH (non-condensing)
4.9 m/s2 or less
Free from corrosive gas or liquid, or explosive gas or liquid
Free from exposure to water, oil, or dust
Free from excessive electrical noise (plasma)
Free from strong magnetic fields
1.5 kVA
2.0 kVA
Floor, wall, ceiling, tilt
value in the parenthesis is the motion range when the manipulator is used
*5: The
together with MOTOPAC.
plus and minus values will be switched when the manipulator is mounted on the
*6: The
ceiling and used together with MOTOPAC.
9
MOTONAN-AR Series Specifications
AR2010
62 −0.019 dia.
: P-point Maximum Envelope
5
4
R201
0
100 dia.
0
1
62 −0.019 dia.
Fitting Depth:5
100 dia.
R5
6
0
50 dia.
■Dimensions Units: mm
View A
Position of the internal
connector main key
Air inlet (A)
(Rc3/8 tapped hole,
with pipe plug)
2365
150
100
Connector for internal user
I/O wiring harness: JL05-2A20-29PC (with cap)
Matching connector: JL05-6A20-29S
(provided by users)
200
R
760
U
P-Point
A
TB
View B
L
505
1548
83
1082
139
S
B
M10 tapped hole (2 holes)
(depth: 18mm) (pitch: 1.5)
0
Maximum Speed
Allowable Moment
Allowable Inertia(GD2/4)
Approx. Mass
IEC Protection Class
Ambient Conditions
S -axis (turning)
L -axis (lower arm)
U -axis (upper arm)
R -axis (wrist roll)
B -axis (wrist pitch/yaw)
T -axis (wrist twist)
S -axis (turning)
L -axis (lower arm)
U -axis (upper arm)
R -axis (wrist roll)
B -axis (wrist pitch/yaw)
T -axis (wrist twist)
R -axis (wrist roll)
B -axis (wrist pitch/yaw)
T -axis (wrist twist)
R -axis (wrist roll)
B -axis (wrist pitch/yaw)
T -axis (wrist twist)
Temperature
Humidity
Vibration
Others
Power Requirements*3
Mounting*4
10
arm payload capacity will vary according to payload carried by wrist.
*12:: UConforms
to ISO 9283.
*3: Varies in accordance
with applications and motion patterns.
*4: There are motion limitations
on S-axis for wall, tilt mounting type.
*
Note: SI units are used for the specifications.
1284
2010
561
0
1710
261
Specifications
Type
Controlled Axis
Payload*1
Repeatability*2
Range of Motion
Air inlet (B)
(Rc3/8 tapped hole,
with pipe plug)
Welding power source s
terminal board
491
229
M10 tapped hole (2 holes)
(depth: 12mm) (pitch: 1.5)
AR2010
YR-1-06VXH25-A11
6 (vertically articulated)
12 kg
±0.08 mm
−180°− +180°
−105°− +155°
− 86°− +160°
−200°− +200(−
° 150°− +150°
)*5
−150°− +150(−
° 135°− +90°
)*5*6
−455°− +455(−
° 210°− +210°
)*5
3.67 rad/s, 210°
/s
3.67 rad/s, 210°
/s
3.84 rad/s, 220°
/s
7.59 rad/s, 435°
/s
7.59 rad/s, 435°
/s
12.2 rad/s, 700°
/s
22 N・m
22 N・m
9.8 N・m
0.65 kg・m2
0.65 kg・m2
0.17 kg・m2
260 kg
Body: IP54, Wrist: IP67
0˚C to +45˚C
20% to 80%RH (non-condensing)
4.9 m/s2 or less
Free from corrosive gas or liquid, or explosive gas or liquid
Free from exposure to water, oil, or dust
Free from excessive electrical noise (plasma)
Free from strong magnetic fields
2.0 kVA
Floor, wall, ceiling, tilt
value in the parenthesis is the motion range when the manipulator is used
*5: The
together with MOTOPAC.
plus and minus values will be switched when the manipulator is mounted on the
*6: The
ceiling and used together with MOTOPAC.
Solution
2
Solution
2
MOTOMAN - AR Series
YRC 1000 Robot Controller
Four Features
Programming
Pendant
YRC1000 Robot Controller
Customer
needs
Customer
needs
Make equipment compact
Smallest size in the world reduces installation space
Former models
This 125 L compact size
controller does not require a
transformer and has built-in
external axis amplifiers for
three axes.
YRC1000
Standardization of equipment
Global standardization (Universal size)
・Common size for use in Japan and overseas.
・Available with specifications for Europe (CE certified) and
North America (UL certified).
・Overseas models do not require a transformer to adapt to
the required power supply voltage.
Realized this size by building in three external
axes and eliminating the need for a transformer.
Customer
needs
Improve work efficiency
New motion control (high precision and high speed)
・Reduce time required for confirmation process with
minimized track changes caused by differences in motion
speeds.
・Reduce time for teaching since it is now possible to specify
the distance where the corner operation should start.
・Successfully carry out corner operation under suppressed
speed changes with simple settings.
Customer
needs
Improve work efficiency
Lighter programming pendant with better operability
・Weighs only 730 g, the lightest programming pendant in
its class, with improved cable installation.
・Can confirm robot positions and postures on the 3D robot
model display.
・Touch screen allows intuitive operation to easily move
the cursor and scroll.
■ YRC1000 Robot Controller Specifications
Items
Configuration
Dimensions
Approx. Mass
Cooling System
Ambient Temperature
Relative Humidity
Altitude
Power Supply
Grounding
Digital I/Os
Positioning System
Programming Capacity
Expansion Slots
LAN (Connection to Host)
Interface
Control Method
Drive Units
Specifications
Dust proof IP54 (area of backside duct fan: IP2X)
598 (W)×427 (D)×490 (H) mm,125 L
70 kg max. (External axis amplifiers for up to three axes can be built in.)
Indirect cooling
During operation: 0˚C to +45˚C, During storage: −10˚C to +60˚C
90% max. (non-condensing)
2000 m (with temperature derating)
Derating condition of over 1000 m: max. ambient temperature decreases 1% per 100 m.
Japan: three-phase 200 VAC to 240 VAC (+10% to −15%), 50/60 Hz (±2%)
Asia and Europe: three-phase 380 VAC to 440 VAC (+10% to −15%), 50/60 Hz (±2%) (neutral grounding)
North America: three-phase 380 VAC to 480 VAC (+10% to −15%), 50/60 Hz (±2%) (neutral grounding)
Grounding resistance: 100 Ω or less for 200-V class, 10 Ω or less for 400-V class
Specialized signals: 19 inputs and 6 outputs
General signals: 40 inputs and 40 outputs (32 transistor outputs, 8 relay outputs)
Serial communications (absolute encoder)
JOB: 200,000 steps, 10,000 instructions
CIO ladder: 20,000 steps max.
PCI express: 2 slots
2 (10BASE-T/100BASE-TX)
RS-232C: 1ch
Software servo control
SERVOPACK for AC servomotors
■ Programming Pendant Specifications
Items
Dimensions
Approx. Mass
Material
Operation Device
Display
IEC Protection Class
Cable Length
Specifications
152 (W)×53 (D)×299 (H) mm
0.730 kg
Reinforced plastics
Select keys, axis keys, numerical/application keys, mode selector switch with keys (mode: teach, play,
and remote), emergency stop button, enable switch, compact flash card interface device (compact flash is
optional.), USB port (USB 2.0, 1 port)
5.7-inch TFT color LCD, touch panel VGA 640×480 pixels (alphanumeric characters, Chinese characters,
Japanese letters, and others)
IP54
Standard: 8 m, max.: 36 m (with optional extension cable)
11
Solution
2
Ideal Arc Welding Functions of the YRC1000
Customer
needs
Simple settings to achieve accurate welding angles
Welding Line Coordinate System Jog Operation Function : Torch Angle Display
The YRC1000 allows jog operation in a direction based on the welding line (welding line coordinate system) during teaching.
Also, the torch angle, which is important for welding quality, is displayed on the programming pendant. The manipulator can be
moved by inputting the torch angle and travel angle in the ARC INFORMATION.
■ Angle display
Tz
Z
View A
Interlock + Z
Torch angle
Tx
View B
Y
X
View B
Y
Ty
Travel angle
X
View A
Customer
needs
Simple settings to adjust welding conditions
Welding Conditions Guide Function
( Optional )
The YRC1000 allows the automatic calculation of welding conditions without having to actually weld. Firstly, this simplifies the
setting of welding power source conditions. Secondly, you can set the calculation result to the welding start conditions file with
one click of a button. Finally, the time taken to set welding conditions can be reduced.
Pressing Write sets the calculated current value and
voltage value to the welding start conditions file.
Pressing Calculate calculates the current value
and voltage value.
12
Solution
2
MOTOMAN - AR Series
Customer
needs
Improve welding quality
Graphical arc monitor function (Optional)
You can check the welding conditions, job information, and robot motion information of the YRC1000,
displayed on the programming pendant. You can also automatically back up welding-related data to an external
memory device. This allows to check welding conditions, manage data, and investigate the cause of welding defects.
Welding status can be checked.
Displays the torch angle required
for high-quality welding.
On-screen contents
can be selected.
Automatic external data
backup is possible.
Measurement can be triggered by
a signal or an arc interruption.
・You can monitor welding conditions and job information in wave or number form, and check the welding status.
・Measurement can be triggered by a signal or an arc interruption, and the cause of welding defects can be analyzed.
・You can manage data by automatically backing up welding conditions, job, signal, and register information to an
external memory device.
Customer
needs
Check welding conditions quickly
Check welding conditions and other information, and make changes for teaching,
all on the same display.
With the YRC1000, you can check and correct welding conditions, as well as other information on just one display.
Moreover, you can easily make changes to welding commands and robot motion information for multiple welding
segments, using table format as shown below. You can also improve welding quality by checking in real-time, actual
welding condition values while welding is in progress.
Weld Control Sheet
Job: ARC_1 L : 0004 S : 0003
Weld locations: 3
Total welding length: 905 mm Total welding time: 372.2 s Predicted total welding length: 900 mm Total welding time: 372.2 s
Welding
line
No.
Line
No.
Welding conditions
File
No.
Current Voltage
A
V
Actual value
User file
No.
Confirmation is possible only for welding segments.
Weld method Speed Current Voltage Weld length
No.
cm/min
A
V
mm
Check welding conditions and
other information and make
changes for teaching,
on just one display.
Welding status can be confirmed simultaneously
for the current robot execution step.
13
Solution
3
Welding Power Source and Welding Package
Features
Easy Setup
Each component is carefully developed and selected
for different types of workpieces and welding methods.
As a result, the best robotic system can be easily
installed. YASKAWA offers a full range of services to
support your needs.
Achieve High-quality Welding
High - quality welding can be achieved by combining
MOTOMAN robots with the latest digitally controlled
welding power source ( MOTOWELD ) . This enables
optimum welding control for a wide variety of welding
methods.
Features of Our New Welding Power Source MOTOWELD-X350
High-quality welding
■ Synchronized Welding Function
Spatter reduced by fully
synchronized robot operation
and waveform control.
Calculates the optimal welding
parameters from the torch angle.
MOTOMAN-AR Series
YRC1000
Sends optimal welding parameters
to the welding power source.
Welding waveform image
Outputs optimal welding waveform from the waveform parameters.
MOTOWELD-X350
Limits the increase
in spatter by adjusting
the torch angle.
■ Effect of Synchronized Welding Function
Significantly limits the increase in spatter caused by adjusting the torch angle.
Without synch
0.3
Spatter quantity (g)
Torch angle
Image showing spatter when
torch angle is adjusted
With synch
Significantly
limits spatter
(Spatter increase rate)
0.259
219.8%
0.25
【Welding condition】
0 .2
0.15
0 .1
13.6%
0.081
0.081
0.092 0.087
0.101
7.4%
0.05
24.7%
0
0°
14
20°
Torch angle
40°
Welding power source: 180 A
Wire diameter: 1.2 mm
Gas: MAG
Torch position: drag angle
0°
, 20°
, 40°
Welding speed: 80 cm/min
Welding method number:
10 Short-circuit welding
Solution
3
MOTOMAN - AR Series
Features of MOTOWELD-X350 & AC Unit (XACU)
&
MOTOWELD-X350
■ DC welding
■ AC welding
AC unit (XACU)
■ Faster Welding and Lower
Defect
Weld Defect Rates
XACU AC unit increases welding volume
and suppresses heat input, which
improves welding quantity, increases
welding speed, and reduces defect rates.
Burn-through
No burn-through
Example: Stainless steel, sheet thickness: 1 mm,
gap: 1 mm, speed: 100 cm/min
■ Select the ideal device for your needs
■ Better Aluminum Bead Appearance
When the workpiece you want to weld changes, or the
adjustment of welding conditions becomes too difficult,
you can attach an AC unit to the MOTOWELD-X350.
This removes the need to buy a new welding power
source.
Smut reduced by 50% for aluminum welding.
Creates smooth beads and ripples.
■ AC welding
■ AC welding
Suppressing smut
Creates smooth beads and ripples.
Features of MOTOPAC-WL300+ Welding Robot Package for Ultra-low Spatter
Servo torch
■ The EAGL welding * minimizes spatter
Superior quality
&
higher productivity
The EAGL welding maximizes productivity and improves
the welding quality.
* : EAGL welding: Enhanced Arc robot weldinG for Low spatter. This is a technology to reduce spatter greatly.
SERVOPACK box
In sync with a welding waveform, control a welding
wire that repeat sending and sending back.
MOTOWELD-X350
Reduced spatter by a forced short circuiting transfer
Conventional MIG, MAG, and CO2 welding
Wire feeding direction
Generates
spatter
Comparison of spatter amount
EAGL welding
CO2 welding
Welding conditions
Gas: CO₂
Wire diameter: 1.2 mm
Torch angle:
Perpendicular to panel
Welding speed: 80 cm/min
EAGL welding
Spatter
reduced
over 90%
Amount of spatter
Conventional
welding
Generates Forward
spatter
direction only
96%
down !!
94%
down !!
97%
91%
down !!
down !!
150A
180A
200A
250A
Welding current
Reduce spatter
at wire retraction
15
3
Solution
A Complete Lineup of Welding Power Sources and Welding Packages
MOTOPAC-WL300+
Welding power source: X350, servo torch, SERVOPACK box
・Short-circuit welding for ultra-low spatter (EAGL welding)
・Pulsed arc welding
MOTOPAC-WL300 & AC UNIT
Welding power source: X350 & AC unit (XACU)
・AC short circuiting welding
・AC pulsed arc welding
MOTOPAC-WL300
New welding power source: X350
Functions
・Low spatter short-circuit welding
・Pulsed arc welding
*RL350 succession model
MOTOPAC-WH400
Welding power source: RP500
・Short-circuit welding
・Pulsed arc welding
MOTOPAC-WR100
Welding power source: SR350
・Short-circuit welding
MOTOPAC-WR200
Welding power source: SR500
・Short-circuit welding
Vehicle body/seat
Vehicle suspension, etc.
Target thickness mm 0.6
1.0
653
401
385
M8 Eyebolts
475
350 A Class
Welding power source
MOTOWELD-X350
3.2
507
Main workpieces
Construction machine, farm machine, etc.
4
Shipbuilding, steel frame, etc.
12
MOTOPAC-WL300
This package uses the MOTOWELD-X350 welding power source.
The secondary switching circuit installed in the welding power
source reduces spatter caused by short circuiting and enables highquality welding.
* : When welding aluminum, the torch and torch cable set and conduit cables
for aluminum welding must be used.
Output terminal (−)
Output terminal (+)
Stay brackets
Ratings and Specifications for MOTOWELD-X350
Specifications
For Japan and other Asian countries
Model
YWE-X350-CC0 (compliant with China Compulsory Certification)
Rated Input
Three-phase 200 - 220 VAC ± 10%
Three-phase 380 - 400 VAC ± 10%
Voltage
(Voltage selectable at the back terminal)
Rated Frequency 50/60 Hz
Rated Input
18 kVA/15 kW
Rated Output Current 30 A to 350 A
12 V to 36 V
60% (for 10 minutes)
Pulsed MAG/MIG welding,
CO2/MAG/MIG short circuiting arc welding
Applicable Wire Diameter 0.8 mm/0.9 mm/1.0 mm/1.2 mm
Applicable Welding Material Iron, stainless steel, aluminum
Dimensions* (W × D × H) 385 × 653 × 475 mm
Approx. Mass
50 kg
Rated Output Voltage
Rated Operation Rate
Applicable
Welding Method
*: Does not include projecting parts such as eyebolts or screws.
Welding power source
MOTOWELD-X350
supporting EAGL welding
MOTOPAC-WL300+
This package uses the MOTOWELD-X350 welding power source
that supports EAGL welding. The EAGL welding reduces spatter
and enables high-quality welding.
welding aluminum, the torch and torch cable set and conduit cables
*: When
for aluminum welding must be used.
*: Cannot be used in combination with the AC Unit (XACU).
AC Unit (XACU) compatible
with MOTOWELD-X350
welding power source
MOTOPAC-WL300 & AC UNIT
This package uses the MOTOWELD-X350 welding power source and
an AC Unit (XACU). This combination of the existing welding method
and AC welding can enhance the performance of the complicated
welding process of thin sheets.
welding aluminum, the torch and torch cable set and conduit cables
*: When
for aluminum welding must be used.
Ratings and Specifications for AC Unit (XACU)
Rated Output Voltage 12 V to 36 V
Specifications
For Japan and other Asian countries
YWE-XACU-CC0 (compliant with China Compulsory Certification) Rated Operation Rate 60% (for 10 minutes)
Model
Rated Input
Voltage
Three-phase 200 - 220 VAC ± 10%
Three-phase 380 - 400 VAC ± 10%
(Voltage selectable at the back terminal)
Rated Frequency 50/60 Hz
Rated Input
18 kVA/15 kW
Rated Output Current 30 A to 350 A
16
Applicable
Welding Method
Pulsed MAG/MIG welding, CO₂/MAG/MIG short
circuiting arc welding, AC pulsed MAG/MIG
welding, CO2/MAG/MIG AC short circuiting arc
welding
Applicable Wire Diameter 0.8 mm/0.9 mm/1.0 mm/1.2 mm
Applicable Welding Material Iron, stainless steel, aluminum
Dimensions* (W×D×H) 375 × 638 × 371 mm
Approx. Mass
40 kg
*: Does not include projecting parts such as eyebolts or screws.
Solution
3
MOTOMAN - AR Series
Welding power source
MOTOWELD-SR350
270
250
This package uses the MOTOWELD - SR 350 welding power
source.
630
675
+
MOTOPAC-WR100
450
M8 Eyebolts
−
Output terminal (−)
Output terminal (+)
Stay brackets
Ratings and Specifications for MOTOWELD-SR350
Specifications
For Japan and other Asian countries
Model
YWE-SR350-AJ0(not compliant with China Compulsory Certification)
Three-phase 200 - 220 VAC ± 10%
Three-phase 380 - 415 VAC ± 10%
Rated Input
Voltage
Rated Frequency 50/60 Hz
Rated Input
20 kVA/15 kW
Rated Output Current 30 A to 350 A
Rated Output Voltage
Rated Operation Rate
Applicable Welding Method
Applicable Wire Diameter
Applicable Welding Material
Dimensions* (W × D × H)
Approx. Mass
12 V to 36 V
60% (for 10 minutes)
CO2 short circuiting arc welding, MAG short circuiting arc welding
0.8 mm/0.9 mm/1.0 mm/1.2 mm
Iron only
250 × 450 × 630 mm
45 kg
*: Does not include projecting parts such as eyebolts or screws.
500 A Class
Welding power source
MOTOWELD-RP500
MOTOPAC-WH400
825
370
This package uses the MOTOWELD-RP500 welding power source.
The operation rate of 100% enables prolonged continuous welding
operation.*1
600
641
M10 Eyebolts
Output
Output
terminal (−) terminal (+)
A water-cooled torch is required for continuous welding operations with a
*1: high
operation rate.
welding aluminum, the torch and torch cable set and conduit cables
*2: When
for aluminum welding must be used.
Stay brackets
Ratings and Specifications for MOTOWELD-RP500
Specifications
For Japan and other Asian countries
Rated Output Voltage
YWE-RP500-AJ0 (not compliant with China Compulsory Certification) Rated Operation Rate
YWE-RP500-CC0 (compliant with China Compulsory Certification)
Applicable
Welding Method
Three-phase 200 - 220 VAC ± 10%
Three-phase 380 - 415 VAC ± 10%
Applicable Wire
Diameter
50/60 Hz
Model
Rated Input
Voltage
Rated Frequency
Rated Input
27 kVA/24.3 kW
Rated Output Current 30 A to 500 A
12 V to 45 V
100% (for 10 minutes)
Pulsed MAG/MIG welding,
CO₂/MAG/MIG short circuiting arc welding
0.8 mm/0.9 mm/1.0 mm
1.2 mm/1.4 mm/1.6 mm
Applicable Welding Material Iron, stainless steel, aluminum
Dimensions* (W×D×H) 370 × 825 × 600 mm
Approx. Mass
75 kg
*: Does not include projecting parts such as eyebolts or screws.
Welding power source
MOTOWELD-SR500
MOTOPAC-WR200
370
350
500
This package uses the MOTOWELD-SR500 welding power source.
Use this package when the required current and operation rate
cannot be obtained with a 350A welding power source.
680
722
M10 Eyebolts
+
Output
Output
terminal (+) terminal (−)
Stay brackets
Ratings and Specifications for MOTOWELD-SR500
Specifications
For Japan and other Asian countries
Model
Rated Input
Voltage
Rated Output Voltage
YWE-SR500-AJ0 (not compliant with China Compulsory Certification) Rated Operation Rate
YWE-SR500-CC0 (compliant with China Compulsory Certification)
Applicable Welding Method
Applicable Wire Diameter
Three-phase 200 - 220 VAC ± 10%
Three-phase 380 - 415 VAC ± 10%
Applicable Welding Material
50/60 Hz
Dimensions* (W×D×H)
Rated Frequency
Rated Input
29 kVA/26 kW
Rated Output Current 30 A to 500 A
Approx. Mass
12 V to 45 V
80% (for 10 minutes)
CO2 short circuiting arc welding, MAG short circuiting arc welding
1.0 mm/1.2 mm/1.4 mm/1.6 mm
Iron only
350 × 500 × 680 mm
60 kg
*: Does not include projecting parts such as eyebolts or screws.
17
3
Solution
MOTOPAC Package Components
Standard Package Components
■ MOTOMAN-AR1440, AR1730,
AR2010 with externally mounted
torch cable
■ MOTOMAN-AR1440, AR1730,
AR2010 with internally mounted
torch cable
③
③
⑩
②
④ ⑩
④
②
YRC1000
Shield gas
Pail pack
⑨
①
⑧
⑧
⑦
⑥
⑪
⑥
⑤
■ For MOTOMAN-AR700, AR900
■ When using AC unit
③
⑩
*1
②
①
*2
Shield gas
⑪
⑦
Pail pack
⑬
⑧
YRC1000
⑨
⑦
⑥
⑥
⑤
⑫ To YRC1000
⑤
■ List of MOTOPAC Package Components
No. Device
①
Default specifications
Welding power source
When using a 350
A welding power
source
②
Torch and torch cable set
When using a 500
A welding power
source
③
Select from MOTOWELD-X350,-SR350,-RP500,-SR500
With internally mounted torch cables:
YMSA-300R [from TOKIN CORPORATION (air-cooled, with shock sensor)]
MOTOMANAR1440,1730,2010
With externally mounted torch cables:
TK308R-SS [from TOKIN CORPORATION (air-cooled, with shock sensor)]
MOTOMAN-AR700,900 TK309R-SS [from TOKIN CORPORATION (air-cooled, with shock sensor)]
With internally mounted torch cables:
YMSA-500R [from TOKIN CORPORATION (air-cooled, with shock sensor)]
MOTOMANAR1440,1730,2010
With externally mounted torch cables:
TK508R-SS [from TOKIN CORPORATION (air-cooled, with shock sensor)]
Wire feeder*1
⑦
When using a 350 A welding power source
Installation parts for S-axis
When using a 500 A welding power source
When using a 350 A welding power source
Positive ( + ) power cable
When using a 500 A welding power source
When using a 350 A welding power source
Negative ( − ) power cable
When using a 500 A welding power source
Cable for wire feeder control (between manipulator and welding power source)
⑧
Negative ( − ) cable for voltage detection (between manipulator and jig)
④
⑤
⑥
When using MOTOWELD-X350, -RP500
Welding I/F cable (between robot
controller and welding power source) When using MOTOWELD-SR350, -SR500
⑩ Conduit cable
⑨
18
YWE-WFR42DX2
60 sq power cable
80 sq power cable
60 sq 5 m
80 sq 5 m
60 sq 5 m
80 sq 5 m
5m
5 m (This cable is not included when using MOTOWELD-SR350, SR500 with a
10 m or shorter power cable.)
LAN cable 5 m
Welding I/F cable 4 m
N35 × 3 m [from TOKIN CORPORATION]
⑪
Gas hose
SLD hose (nominal dia. 6mm) × 10 m [from Bridgestone Corp.]
⑫
Shock sensor cable (used only when AR700 or AR900 is selected)
10 m
⑬
AC unit (XACU) (used only when MOTOPAC-WL300&AC UNIT is selected)
−
*
*
1: The wire feeder cannot be placed on the manipulator when using the AR700 or AR900. Users must prepare a stand for the wire feeder.
2: An optional joint component should be used when placing the AC unit on top of the X350.
Solution
3
MOTOMAN - AR Series
Package Components for MOTOPAC-WL300+
■ For MOTOMAN-AR1440, AR1730, AR2010
③
⑤
⑪
②
①
YRC1000
Shield gas
④
⑩
Pail pack
⑥
⑫
⑧
⑨
⑦
■ For MOTOMAN-AR700, AR900
③
⑪
②
⑤
*
①
YRC1000
Shield gas
⑩
⑥
Pail pack
⑧
⑫
⑨
⑦
⑬
■ List of MOTOPAC Package Components
No. Device
Default specifications
MOTOWELD-X350
① Welding power source
Select from 200 V or 400 V
② SERVOPACK box
*
③ Servo torch set + shoulder unit/ joint unit
WFE2WD-TSS300R [from TOKIN CORPORATION (air-cooled, with shock sensor)]
④ Installation parts for S-axis
60 sq power cable
⑤ Cable for servo torch
−
⑥ Cable for base side
5m
⑦ Positive ( + ) power cable
60 sq 5 m
⑧ Negative ( − ) power cable
60 sq 5 m
⑨ Negative ( − ) cable for voltage detection (between manipulator and jig)
5m
⑩ Welding I/F cable (between robot controller and welding power source)
LAN cable 5 m
⑪ Conduit cable
N35 × 3 m [from TOKIN CORPORATION]
⑫ Gas hose
SLD hose (nominal dia. 6mm) × 10 m [from Bridgestone Corp.]
⑬ Shock sensor cable (used only when AR700 or AR900 is selected)
10 m
*: The joint unit cannot be placed on the manipulator when using AR700 or AR900. Users must prepare a stand for the joint unit.
19
3
Solution
Components and Devices
Standard Package
Internally Mounted Torch Cable for 350 A (Standard)
TOKIN
YMXA-308R
without shock sensor
YMXA-ACC308R
without shock sensor
Applicable models:
AR1440,AR1730
AR2010
407.7
TOKIN
YMXA-300R
without shock sensor
YMXA-ACC300R
without shock sensor
Applicable models:
AR1440,AR1730
AR2010
335
TOKIN
YMSA-308R
with shock sensor
YMSA-ACC308R
with shock sensor
Applicable models:
AR1440,AR1730
AR2010
497.2
424.5
TOKIN
YMSA-300R
with shock sensor
YMSA-ACC300R
with shock sensor
Applicable models:
AR1440,AR1730
AR2010
5
35°
15
82.5
5
35°
5
5
20 dia.
15
15
31°
15
31°
125.1
82.5
125.1
20 dia.
20 dia.
20 dia.
Internally Mounted Torch Cable for 500 A ( Standard )
BINZEL
iCATminiG350-308N
308 with shock sensor
N chip (internally mounted)
iCATminiG350-308D
308 with shock sensor
D chip (internally mounted)
Applicable models:
AR1440
AR1730
AR2010
TOKIN
YMSA-508R
with shock sensor
Applicable models:
AR1440,AR1730
AR2010
508.6
TOKIN
YMSA-500R
with shock sensor
Applicable models:
AR1440,AR1730
AR2010
436.5
398
353.2
BINZEL
iCATminiG350-30SN
300 with shock sensor
N chip (internally mounted)
iCATminiG350-30SD
300 with shock sensor
D chip (internally mounted)
Applicable models:
AR1440
AR1730
AR2010
5
35°
15
20 dia.
15
92
5
30°
5.5
15
31°
89.7
5.5
15
35°
20 dia.
125.1
25 dia.
15
133.1
25 dia.
Externally Mounted Torch Cable for 350 A ( Standard )
309.5
TOKIN
TK308R-LESS
without shock sensor
ACC308R-LESS
without shock sensor
Applicable models:
AR1440,AR1730
AR2010
40°
40°
50°
5.5
15
35°
dia
15
14
20
dia
15
15
20
5
6
25 dia.
133.1
.
.
20
.
25 dia.
5
89.7
5.5
15
dia
31°
TOKIN
TK308R-SS
with shock sensor
ACC308R-SS
with shock sensor
Applicable models:
AR1440,AR1730
AR2010
395
419.1
347
TOKIN
TK309R-SS
with shock sensor
Applicable models:
AR700,AR900
395
TOKIN
YXSA-508R
without shock sensor
Applicable models:
AR1440,AR1730
AR2010
TOKIN
YXSA-500R
without shock sensor
Applicable models:
AR1440,AR1730
AR2010
WL300+ Package
TOKIN
TK508R-SS
with shock sensor
Applicable models:
AR1440,AR1730
AR2010
Externally Mounted Torch Cable for 350 A (Standard)
415
395
395
TOKIN
TK508R-LESS
without shock sensor
Applicable models:
AR1440,AR1730
AR2010
40°
40°
TOKIN
WFE2WDTSS308R
with shock sensor
Applicable models:
AR700, AR900
AR1440, AR1730
AR2010
TOKIN
WFE2WDTSS300R
with shock sensor
Applicable models:
AR700, AR900
AR1440, AR1730
AR2010
492
Externally Mounted Torch Cable for 500 A ( Standard )
40°
.
.
.
2
20
dia
40°
.
5
5
2
5
ia
5d
ia
5d
5
15
15
15
20
dia
15
20
Note: Please contact your YASKAWA representative about other torches.
Solution
3
MOTOMAN - AR Series
Power Cable
This cable can be used as a positive (+) power cable (between a manipulator and a welding power source) as
well as a negative (−) power cable (between a welding power source and a welding jig). Different lengths of
cable can be ordered as needed, depending on the installation layout of the devices. This positive (+) power
cable must be the same length as the feeder control cable.
【Selectable materials, thicknesses, and lengths】
Material: WCT or E-WCT
Thickness: 60 sq, 80 sq, or 100 sq
Length: 5 m (standard), 10 m, 15 m, or 20 m
Note: Cables are also available in 1-m increments.
Cable for Wire Feeder Control
This signal cable connects a manipulator with a welding power source and controls the wire feeder. Different lengths
of cable can be ordered as needed, depending on the installation layout of the devices.
If you change the length of this cable, the length of the positive (+) power cable must also be changed. If you use
the MOTOWELD-SR350, -SR500 welding power source, obtain a voltage detection cable separately.
【Selectable lengths】
Without an encoder signal conversion unit: 5 m (standard), 7 m, or 10 m
With an encoder signal conversion unit: 10 m, 15 m, or 20 m
Negative (−) Cable for Voltage Detection
This cable connects a manipulator with a welding jig and detects welding voltage. Different lengths of cable can
be ordered as needed, depending on the installation layout of the devices. If you change the length of this
cable, the length of the negative (−) power cable must also be changed. When using the MOTOWELD-SR350
or -SR500 welding power source, this cable connects a welding power source with a welding jig.
【Selectable lengths】
Length: For X350 5 m (standard), 10 m
For SR350, SR500, RP500 5 m (standard), 10 m, 15 m, 20 m
Welding I/F Cable:LAN Cable
This signal cable connects a robot controller with a welding power source and controls the welding power
source. Different lengths of cable can be ordered as needed, depending on the installation layout of the
devices. This cable is used with the MOTOWELD-X350 or -RP500 with digital controls.
【Selectable lengths】
Length: 5 m (standard), 10 m,15 m, 20 m
Welding I/F Cable
This signal cable connects a robot controller with a welding power source and controls the welding power
source. Different lengths of cable can be ordered as needed, depending on the installation layout of the
devices. This cable is used with the MOTOWELD-SR350 or -SR500, or MOTOWELD-RP500 with analog
controls.
【Selectable lengths】
Length: 4 m (standard), 5 m, 10 m,15 m, 20 m
Note: The YWE-AIF-001 must be purchased separately when using the RP500 with analog controls.
Conduit Cable
le
This cable connects a manipulator with a spool container for welding wire. Different lengths of cable can be
ordered as needed, depending on the installation layout of the devices.
【Selectable cable types and lengths】
Length: N35 (1 m to 10 m max. in 1-m increments, standard 3 m), N55 (1 m to 15 m max. in 1-m increments),
Simplified type (1 m to 20 m max. in 1-m increments) [from TOKIN CORPORATION]
Gas Hose
This hose connects the manipulator and gas cylinder.
【Selectable lengths】
Length: 10 m (standard), 20 m, 30 m
Optional Devices
Air Valve Unit
This valve unit is used to supply air to a welding torch with a wire clamp.
【Selectable lengths】
Length: Signal cable 10 m, 20 m
Feeder Roller
This is a set of optional rollers for the wire feeder. Be sure to order the correct size rollers for your wires. (A set
of rollers for diameter 1.0 mm and 1.2 mm wires is installed in the wire feeders when shipped.)
【Selectable wire diameter 】
Wire diameter : 0.8 mm dia., 0.9 mm dia., 1.4 mm dia., 1.6 mm dia.(0.8 mm and 0.9 mm dia., 1.4 mm and 1.6 mm dia.)
[from TOKIN CORPORATION]
Note: Available in a set of two rollers (one set/wire feeder)
Gas Regulator
Cable Stands and Reel Units
This gas regulator controls the pressure of shield gas contained in the gas cylinder that can be used for both
CO2 and MAG welding. When using it for CO2, an antifreeze heater can be used by connecting the heater to a
100 VAC power source.
This option includes a cable stand that secures the conduit cable, and a reel unit that holds the wire reel.
【Selectable reel units】
・Mounted on cable stand [from YASKAWA]
Water Circulator
・Mounted on floor [from TOKIN CORPORATION]
This is a water circulation device for water-cooled torches. A single-phase 200 VAC must be used for this device.
【Selectable types】
WR100[from TOKIN CORPORATION]
Water hose length: 10 m, 15 m, 20 m
21
Solution
4
Welding Positioner
MOTOPOS is a welding positioner that is exclusive for MOTOMAN. It supports high-quality welding by securing optimal
welding postures.
Wide Variety of Products
We have an extensive model lineup, including models with a payload of 200 kg to 5000 kg, models with one to two axes, and
cantilever models that can weld the back of workpieces. Choose an optimum turntable and positioner for your production line
to improve welding quality and efficiency.
Cantilever type
●D200B-C00
●D500B-C00
D500B-C01 (Space-saving model)
2
Number of Axes
●D2
250F
●D250B
●D500B
●D700B
●T2000E
●S500E
(High-speed model)
(High-speed model)
●S1000B
●S250B
1
●T5000B
●T2000B
●S500B
●S500F
●S500B-A30
0 (L
Low-cost model
el)
200
250
500
700
1000
1500
2000
4000
Payload kg
Features
■ Wide Variety of Products
Our product lineup features one-axis positioners and two-axis positioners with a wide range of
payloads, as well as turntables. We can recommend optimal positioners for each customer s system,
depending on the type of application.
■ High Precision
A single controller that exclusively controls MOTOMAN enables highly accurate coordinated operation
by applying a control system designed specially for MOTOMAN robots and MOTOPOS.
Coordinated welding with MOTOPAC-W series*
arc welding package and MOTOPOS
The robot and MOTOPOS weld in coordination at a constant speed, allowing the
workpiece and the torch to keep the best posture at all times. This reduces partial
penetration and distortion, and greatly improves welding quality.
MOTOPAC-W series is a welding package that includes a robot,
*: aThewelding
power supply, and a torch.
22
5000
Solution
4
MOTOMAN - AR Series
One - axis Positioners
■Standard : One axis, 250/500/1000 kg payload
Specifications
Payload
Type
Model
Allowable
Overhang
Rotational Angle
Max. Rotational Speed
Allowable Moment
Allowable Moment
of Inertia (GD2/4)
Repeatability
Approx. Mass
Internal I/O Wire
Internal Air Hose
Power Requirements
MOTOPOS-S500F
500 kg
Standard
YR-MPS500F-A00
340 mm
(from the rotating plate with a 500 kg load)
− 200˚ − +200˚ *1
3.32 rad/s (190˚/s)
509.6 N・m
MOTOPOS-S500E
500 kg
Standard
With Rotary Joint
YR-MPS500E-A00
YR-MPS500E-B00
340 mm
(from the rotating plate with a 500 kg load)
− 370˚ − +370˚ *1
4.71 rad/s (270˚/s)
509.6 N・m
35 kg・m2
35 kg・m2
± 0.05 mm (R=250 mm)
150 kg
± 0.1 mm (R=250 mm)
150 kg
−
−
−
−
0.3 kVA
0.5 kVA
0.5 mm2 × 6 cables
3/8 inch × 2 hoses
Specifications
MOTOPOS-S500B-A30
MOTOPOS-S1000B
Payload
500 kg
1000 kg
Standard
With Rotary Joint
Type
Optional Mounting Base Type *2
Model
YR-MPS500B-A30
YR-MPS1000B-A00 YR-MPS1000B-B00
Allowable
340 mm
600 mm
(from the rotating plate with a 500 kg load)
(from the rotating plate with a 1000 kg load)
Overhang
− 180˚ − +180˚ *1
Rotational Angle − 360˚ − +360˚ *1
Max. Rotational Speed 2.18 rad/s (125˚/s)
1.92 rad/s (110˚/s)
Allowable Moment 509.6 N・m
2450 N・m
Allowable Moment
2
・
35 kg m
200 kg・m2
of Inertia (GD2/4)
± 0.2 mm (R=250 mm)
Repeatability ± 0.1 mm (R=250 mm)
350 kg
Approx. Mass 115 kg
−
Internal I/O Wire −
0.5 mm2 × 6 cables
−
Internal Air Hose −
3/8 inch × 2 hoses
Power Requirements 0.3 kVA
0.8 kVA
1: Endless rotation is available as an option.
2: Mounting bases are optional.
Note: Secondary terminals for welding are provided as a standard feature.
*
*
Two - axis Positioners
One - axis Turntable
■Standard : Two axes, 250/500/700 kg payload
■Standard :
One axis, 2000/5000 kg payload
Tilted Axis
Rotation Axis
Specifications
Payload
Type
Model
Rotational Angle
Max. Rotational Speed
Allowable Moment
Allowable Moment
of Inertia (GD2/4)
Rotational Angle
Max. Rotational Speed
Allowable Moment
Allowable Moment
of Inertia (GD2/4)
MOTOPOS-D250F
250 kg
Standard
YR-MPD250F-A00
− 200˚ − +200˚ *
3.32 rad/s (190˚/s)
196 N・m
MOTOPOS-D500B
500 kg
With Rotary Joint
Standard
YR-MPD500B-A00 YR-MPD500B-B00
−200˚ − +200˚ − 370˚ − +370˚ *
2.80 rad/s (160˚/s)
392 N・m
MOTOPOS-D700B
700 kg
Standard
With Rotary Joint
YR-MPD700B-A00 YR-MPD700B-B00
−200˚ − +200˚ − 370˚ − +370˚ *
2.80 rad/s (160˚/s)
686 N・m
Specifications MOTOPOS-T2000B/T5000B
Payload
2000 kg
5000 kg
Type (Standard) YR-MPT2000B-A00 YR-MPT5000B-A00
Allowable
6125 N・m
7350 N・m
Moment
17 kg・m2
44 kg・m2
70 kg・m2
− 135˚ − +135˚
3.14 rad/s (180˚/s)
539 N・m
− 135˚ − +135˚
1.40 rad/s (80˚/s)
1274 N・m
− 90˚ − +90˚
1.40 rad/s (80˚/s)
2842 N・m
50 kg・m
200 kg・m
250 kg・m
Rotational Angle
Max. Rotational
Speed
Repeatability
Approx. Mass
Internal I/O Wire
Internal Air Hose
Mounting
Power
Requirements
2
2
2
± 0.1 mm (R=250 mm)
± 0.1 mm (R=250 mm)
Repeatability ± 0.1 mm (R=250 mm)
240 kg
350 kg
Approx. Mass 265 kg
0.5 mm2 × 12 cables 0.5 mm2 × 6
0.5 mm2 × 12 cables
Internal I/O
Optional
0.5 mm2 × 6 cables
AWG19 × 22 cables cables
AWG19 × 22 cables
Wire
Internal Air Hose Optional
3/8 inch × 1 hose 3/8 inch × 2 hoses 3/8 inch × 1 hose 3/8 inch × 2 hoses
Power Requirements 0.4 kVA
0.6 kVA
1.1 kVA
: Endless rotation is available as an option. Note: Secondary terminals for welding are provided as a standard feature.
*
Allowable
2250 kg・m2
Moment of
Inertia (GD2/4)
4500 kg・m2
0˚ − +270˚*
0˚ − +270˚ *
1.40 rad/s (80˚/s) 1.05 rad/s (60˚/s)
± 0.3 mm (R=1000 mm)
450 kg
950 kg
−
−
−
−
Floor-mount only
0.8 kVA
0.8 kVA
a lock mechanism is provided
*: atFor0˚,safety,
90˚, 180˚, and 270˚.
Note: Secondary terminals for welding are
provided as a standard feature.
Note: Refer to the "Turntable/Positioner MOTOPOS Series" (KAE-C945-431) catalog for details on other turntables and positioners.
23
MOTOMAN-AR Series
Sales Department
HEAD OFFICE
2-1 Kurosaki-Shiroishi, Yahatanishi-ku, Kitakyushu, Fukuoka 806-0004, Japan
Phone: +81-93-645-7703 Fax: +81-93-645-7802
YASKAWA America, Inc. (Motoman Robotics Division)
100 Automation Way, Miamisburg, OH 45342, U.S.A.
Phone: +1-937-847-6200 Fax: +1-937-847-6277
YASKAWA Europe GmbH (Robotics Division)
Yaskawastrasse 1, 85391, Allershausen, Germany
Phone: +49-8166-90-100 Fax: +49-8166-90-103
YASKAWA Nordic AB
Verkstadsgatan 2, Box 504 ,SE-385 25 Torsas, Sweden
Phone: +46-480-417-800 Fax: +46-486-414-10
YASKAWA Electric (China) Co., Ltd.
22F, One Corporate Avenue, No.222 Hubin Road, Huangpu District, Shanghai 200021, China
Phone: +86-21-5385-2200 Fax: +86-21-5385-3299
YASKAWA SHOUGANG ROBOT CO., LTD.
No.7 Yongchang North Road, Beijing E&T Development Area China 100176
Phone: +86-10-6788-2858 Fax: +86-10-6788-2878
YASKAWA India Private Ltd. (Robotics Division)
#426, Udyog Vihar Phase-IV, Gurgaon, Haryana, India
Phone: +91-124-475-8500 Fax: +91-124-475-8542
YASKAWA Electric Korea Corporation
35F, Three IFC, 10 Gukjegeumyung-ro, Yeongdeungpo-gu, Seoul, Korea 07326
Phone: +82-2-784-7844 Fax: +82-2-784-8495
YASKAWA Electric Taiwan Corporation
12F, No.207, Sec. 3, Beishin Rd., Shindian District, New Taipei City 23143, Taiwan
Phone: +886-2-8913-1333 Fax: +886-2-8913-1513
YASKAWA Electric (Singapore) PTE Ltd
151 Lorong Chuan, #04-02A New Tech Park, Singapore 556741
Phone: +65-6282-3003 Fax: +65-6289-3003
YASKAWA Electric (Thailand) Co., Ltd.
59, 1st-5th Floor, Flourish Building, Soi Ratchadapisek 18,
Ratchadapisek Road, Huaykwang, Bangkok 10310, Thailand
Phone: +66-2-017-0099 Fax: +66-2-017-0199
PT. YASKAWA Electric Indonesia
Secure Building-Gedung B Lantai Dasar & Lantai 1 Jl. Raya Protokol Halim Perdanakusuma,
Jakarta 13610, Indonesia
Phone: +62-21-2982-6470 Fax: +62-21-2982-6471
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.
Specifications are subject to change without notice for ongoing product modifications
and improvements.
© 2016 YASKAWA ELECTRIC CORPORATION
LITERATURE NO. CHEP C941111 01C <3>-1
Published in Japan December 2017
16-8-43