Motoman Dual Arm SDA10D Robot - MOTOMAN - #2

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MOTOMAN IS A REGISTERED TRADEMARK windows is a registered trademark of microsoft ALL other MARKS ARE THE TRADEMARKS AND REGISTERED TRADEMARKS OF MOTOMAN INC. Motomanotoman CORPORATE HEADQUARTERS 805 Liberterty Lane, WEST CARROLLTON, OHIO 45449 Tel: 937.847.6200 • FAX: 937.847.6277 All dimensions are metric (mm) and for reference only. Please request detail drawings for all design/engineering requirements. R2R1R2-SIDE CONNECTORAIR-1AIR-2AIR-3AIR-4AIR-5AIR-6S3S2S11BC2BC3BC4BCBAT1BAT2S3AIR-5AIR-6EVIEW CABVIEW AVIEW BVIEW DVIEW EDBC5057201200875360360155R720R720R720R720R276R276100165146205R276R720R2761354157.5342.55505S2-1AIR-3(RED), AIR-4(BLUE)S2-2S1-1AIR-1(RED), AIR-2(BLUE)S1-22502505R1-SIDE CONNECTOROPTIONAL LAMPUSER WIRING CONNECTORS ARE,S-1:51216-0800, S-2:51216-0700MATCHING CONNECTORS ARE,S-1:51227-0800, S-2:51227-0700 (MOLEX)2X AIR HOSEØ4 OUTSIDEØ2.5 INSIDEPOINT PWORKING RANGEPOINT PPOINT PR720POINT PWORKING RANGEPOINT P(P-POINT MAXIMUM ENVELOPEWHEN ARMS ARE NOT INTERFERED)(505)140500500(505)255200Ø1780610.52X Ø128X Ø186X AIR INLETPT3/8 TAPPED(WITH PLUG)CONNECTORS FOR INTERNAL USER I/O WIRING HARNESS:LF10WBRB-12P (PIN CONNECTOR)(3 CONNECTORS)PREPARE SOCKET CONNECTOR: LF10WBP-12S (HIROSE)2X AIR EXHAUST PT3/8 TAPPED (WITH PLUG)INTERNAL USER WIRING CONNECTORTYPE IS LF10WBRB-12S (SOCKET CONNECTOR)MATCHING CONNECTOR TYPE ISLF10WBP-12P (HIROSE)4X M6 X 1 X x11(EQUALLY SPACED)2X Ø6 x102201902001907201440R2769859851970720720144014404809859851970P.C.D. 61.4P.C.D. 63220 Structure Articulated Mounting Floor Controlled Axes 15 (7 axes per arm plus base rotation) Payload 10 kg (22.1 lbs)/arm Horizontal Reach per Arm 720 mm (28.3") Horizontal Reach (P-point to P-point) 1,970 mm (77.6") Vertical Reach 1,440 mm (56.7") Repeatability ±0.1 mm (±0.004") Rotation-Axis (Waist) ±170° S-Axis (Lifting) ±180° Maximum L-Axis (Lower Arm) ±110° Motion E-Axis (Elbow) ±170° Range U-Axis (Upper Arm) ±135° R-Axis (Upper Arm Twist) ±180° B-Axis (Wrist Pitch/Yaw) ±110° T-Axis (Wrist Twist) ±180° Rotation-Axis 130°/s S-Axis 170°/s Maximum L-Axis 170°/s Speed E-Axis 170°/s U-Axis 170°/s R-Axis 200°/s B-Axis 200°/s T-Axis 400°/s Approximate Mass 220 kg (485.1 lbs) Power Consumption 2.7 kVA Allowable R-Axis 31.4 N • m Moment B-Axis 31.4 N • m T-Axis 19.6 N • m Allowable R-Axis 1 kg • m2 Moment of B-Axis 1 kg • m2 Inertia T-Axis 0.4 kg • m2 SDA10D SPECIFICATiONSSDA10D Robotot www.motoman.com Dimensions (mm) 1,200 (w) x 1,000 (h) x 650 (d) 47.2" x 39.4" x 25.6") Approximate Mass 250 kg max. (551.3 lbs) Cooling System Indirect cooling Ambient During operation: 0° to 45° C (32° to 113° F) Temperature During transit and storage: -10° to 60° C (14° to 140° F) Relative Humidity 90% max. non-condensing Primary Power Requirements 3-phase, 240/480/575 VAC at 50/60 Hz Digital I/O Standard I/O: 40 inputs/40 outputs consisting of 16 system inputs/ NPN-Standard 16 system outputs, 24 user inputs/24 user outputs PNP-Optional 32 Transistor Outputs; 8 Relay Outputs Max. I/O (optional): 2,048 inputs and 2,048 outputs Position Feedback By absolute encoder Program Memory JOB: 200,000 steps, 10,000 instructions CIO Ladder Standard: 15,000 steps Expanded: 20,000 steps Pendant Dim. (mm) 169 (w) x 314.5 (h) x 50 (d) (6.7" x 12.4" x 2") Pendant Weight .998 kg (2.2 lbs) Interface One Compact Flash slot; One USB Port (1.1) Pendant Playback Teach/Play/Remote Keyswitch selector Servo On, Start, Hold, and Buttons Emergency Stop Buttons Programming Language INFORM III, menu-driven programming Maintenance Functions Displays troubleshooting for alarms, predicts reducer wear Number of Robots/Axes Up to 8 robots, 72 axes Multi Tasking Up to 16 concurrent jobs, 4 system jobs Fieldbus DeviceNet Master/Slave, AB RIO, Profibus, Interbus-S, M-Net, CC Link, EtherNet IP/Slave Ethernet 10 Base T/100 Base TX Safety Dual-channel Emergency Stop Pushbuttons, 3-position Enable Switch, Manual Brake Release Meets ANSI/RIA R15.06-1999, ANSI/RIA/ISO 10218-1-2007 and CSA Z434-03 **See DX100 Controller data sheet (DS-399) for complete specifications DX100 CONTROLLER SPECIFICATiONS** TECHNICAL SPECIFICATIONS SUBJECT TO CHANGE WITHOUT NOTICE DS-403-B ©2009 MOTOMAN INC. NOVEMBER 2009