Motoman ES165RD/ES200RD Handling Robots - MOTOMAN - #2

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3535402902906408935406407353502902902902902X Ø20 THRU2X Ø16 THRU8X Ø22 THRUØ632X Ø10 x82X Ø9 x8VIEW CVIEW AVIEW BDVIEW DBCAPOINT PPOINT PAIR INLETPT3/8” TAPPED(WITH PLUG)RESERVED CABLE CONNECTORJL05-2A28-21PC (WITH CAP)MATING CONNECTOR WILL NOT BE SUPPLIEDR3140R1212R1000R873365555AIR EXHAUST3/8” PT W/ PIPE PLUGUSER I/O CONNECTOR JL05-2A22-14SC (WITH CAP).MATING CONNECTOR WILL NOT BE SUPPLIED.EXTERNAL AXIS CONNECTOR (ENCODER CABLE CONNECTIONS) JL05-2A20-29SC (WITH CAP). MATING CONNECTOR WILL NOT BE SUPPLIED.EXTERNAL AXIS CONNECTOR (POWER CABLE CONNECTIONS) JL05-2A18-1SC (WITH CAP). MATING CONNECTOR WILL NOT BE SUPPLIED.Ø160(Ø180)Note: Dimension in parentheses is for ES200RD28504503140225122582740115025015388PCD125PCD926X M10 X 1.5 X x126X M10 X 1.5 X x1247823935ES165RD/ES200RD Robotot www.motoman.com TECHNICAL SPECIFICATIONS SUBJECT TO CHANGE WITHOUT NOTICE DS-419-B ©2010 MOTOMAN INC. january 2010 Motomanotoman CORPORATE HEADQUARTERS 805 Liberty 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. ES165RD robot shown. ES200RD dimensions are same as ES165RD. All dimensions are metric (mm) and for reference only. Please request detail drawings for all design/engineering requirements. ES165RD ES200RD 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 4,782 mm (188.3") 4,782 mm (188.3") Horizontal Reach 3,140 mm (123.6") 3,140 mm (123.6") Repeatability ±0.2 mm (0.008") ±0.2 mm (0.008") S-Axis (Turning/Sweep) ±180° ±180° Maximum L-Axis (Lower Arm) +80°/-130° +80°/-130° Motion U-Axis (Upper Arm) +208°/-112° +280°/-107° Range R-Axis (Wrist Roll) ±360° ±360° B-Axis (Bend/Pitch/Yaw) ±130° ±125° T-Axis (Wrist Twist) ±360° ±360° S-Axis 105°/s 90°/s L-Axis 105°/s 85°/s Maximum U-Axis 105°/s 85°/s Speed R-Axis 175°/s 120°/s B-Axis 150°/s 120°/s T-Axis 240°/s 190°/s Approximate Mass 1,540 kg (3,395.7 lbs) 1,570 kg (3,461.9 lbs) B rakes All axes All axes Power Consumption 10 kVA 10 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 120 kg • m2 Moment of B-Axis 85 kg • m2 120 kg • m2 Inertia T-Axis 45 kg • m2 70 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**