Motoman ES165D/ES200D Handling Robots - MOTOMAN - #2

Text version of the page

ES165D/ES200D Robotot www.motoman.com TECHNICAL SPECIFICATIONS SUBJECT TO CHANGE WITHOUT NOTICE DS-415-B ©2010 MOTOMAN INC. JANUARY 2010 Motomanotoman CORPORATE HEADQUARTERS 805 Libertyiberty Lane, WEST CARROLLTON, OHIO 45449 Tel: 937.847.6200 • FAX: 937.847.6277 MOTOMAN IS A REGISTERED TRADEMARK Windows is a registered trademark of microsoft ALL other MARKS ARE THE TRADEMARKS AND REGISTERED TRADEMARKS OF MOTOMAN INC. ES165D robot shown. ES200D dimensions are same as ES165D All dimensions are metric (mm) and for reference only. Please request detail drawings for all design/engineering requirements. BCVIEW AVIEW CVIEW BA650115025022031961461228512252253223372POINT PWORKINGRANGEPOINT P6X M10 X 1.5 X x1288Ø63Ø160(Ø180)6X M10 X 1.5 X x122X Ø10 x 82X Ø9 x 8PCD 125PCD 92R2651R608INTERNAL USER AIR LINE 3/8” PT (WITH PLUG)INTERNAL USER CABLE CONNECTORJL05-2A28-21PC (WITH CAP). MATING CONNECTOR WILL NOT BE SUPPLIED,BUT COMPLETE CABLES ARE AVAILABLE AS AN OPTION2902903532902903505402902906408935406407352X Ø16 THRU8X Ø22 THRU2X Ø20 THRUR729491294INTERNAL USER CABLE CONNECTOR(USER I/O CONNECTOR)JL05-2A22-14SC (WITH CAP)MATING CONNECTOR WILL NOT BESUPPLIED. BUT CABLES AREAVAILABLE AS AN OPTIONRESERVED CABLE CONNECTOR(ENCODER CABLE CONNECTIONS)JL05-2A20-29SC (WITH CAP)MATING CONNECTOR WILL NOT BE SUPPLIED.RESERVED CABLE CONNECTOR(POWER CABLE CONNECTIONS)JL05-2A18-1SC (WITH CAP)MATING CONNECTOR WILL NOT BE SUPPLIED.INTERNAL USER AIR LINE 3/8” PT(WITH PLUG)Note: Dimension in parentheses is for ES200D ES165D ES200D Structure Vertical jointed- Vertical jointed- arm type arm type Controlled Axes 6 6 Payload 165 kg (363.8 lbs) 200 kg (441 lbs) Vertical Reach 3,372 mm (132.8") 3,372 mm (132.8") Horizontal Reach 2,651 mm (104.4") 2,651 mm (104.4") Repeatability ±0.2 mm (0.008") ±0.2 mm (0.008") S-Axis (Turning/Sweep) ±180° ±180° Maximum L-Axis (Lower Arm) +76°/-60° +76°/-60° Motion U-Axis (Upper Arm) +230°/-142.5° +230°/-142.5° Range R-Axis (Wrist Roll) ±360° ±360° B-Axis (Bend/Pitch/Yaw) ±130° ±125° T-Axis (Wrist Twist) ±360° ±360° S-Axis 110°/s 95°/s L-Axis 110°/s 90°/s Maximum U-Axis 110°/s 95°/s Speed R-Axis 175°/s 120°/s B-Axis 150°/s 120°/s T-Axis 240°/s 190°/s Approximate Mass 1,100 kg (2,425.5 lbs) 1,130 kg (2,491.7 lbs) B rakes All axes All axes Power Consumption 5 kVA 5 kVA Allowable R-Axis 921 N • m 1,344 N • m Moment B-Axis 921 N • m 1,344 • m T-Axis 490 N • m 715 N • m Allowable R-Axis 85 kg • m2 143 kg • m2 Moment of B-Axis 85 kg • m2 143 kg • m2 Inertia T-Axis 45 kg • m2 80 kg • m2 Internal User I/O Cable 18 conductors + ground 18 conductors + ground Internal User Air Line 1 – 3/8" PT connection 1 – 3/8" PT connection Robot SPECIFICATiONS Dimensions (mm) 800 (w) x 1,000 (h) x 650 (d) (31.5" 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**