Motoman HP20D and HP20D-6 Robots - MOTOMAN - #2

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HP20D/HP20D-6 Robotot www.motoman.com TECHNICAL SPECIFICATIONS SUBJECT TO CHANGE WITHOUT NOTICE DS-407-B ©2009 MOTOMAN INC. NOVEMBER 2009 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 Libertiberty Lane, WEST CARROLLTON, OHIO 45449 Tel: 937.847.6200 • FAX: 937.847.6277 HP20D HP20D-6 Structure Vertical jointed- Vertical jointed- arm type arm type Controlled Axes 6 6 Payload 20 kg (44.1 lbs) 6 kg (13.2 lbs) Vertical Reach 3,063 mm (120.6") 3,459 mm (136.2") Horizontal Reach 1,717 mm (67.6") 1,915 mm (75.4") Repeatability ±0.06 mm (0.002") ±0.06 mm (0.002") S-Axis (Turning/Sweep) ±180° ±180° Maximum L-Axis (Lower Arm) +155°/-110° +155°/-110° Motion U-Axis (Upper Arm) +255°/-165° +255°/-160° Range R-Axis (Wrist Roll) ±200° ±200° B-Axis (Bend/Pitch/Yaw) +230°/-50° +230°/-50° T-Axis (Wrist Twist) ±360° ±360° S-Axis 197°/s 197°/s L-Axis 175°/s 175°/s Maximum U-Axis 187°/s 187°/s Speed R-Axis 400°/s 400°/s B-Axis 400°/s 400°/s T-Axis 600°/s 600°/s Approximate Mass 268 kg (590.9 lbs) 273 kg (602 lbs) Brakes All axes All axes Power Consumption 2.0 kVA 2.8 kVA Allowable R-Axis 39.2 N • m 11.8 N • m Moment B-Axis 39.2 N • m 9.8 N • m T-Axis 19.6 N • m 5.9 N • m Allowable R-Axis 1.05 kg • m2 0.24 kg • m2 Moment of B-Axis 1.05 kg • m2 0.17 kg • m2 Inertia T-Axis 0.75 kg • m2 0.06 kg • m2 Robot SPECIFICATiONS HP20D robot shown. All dimensions are metric (mm) and for reference only. Please request detail drawings for all design/engineering requirements. 180º180ºR1717R421R3141417801407605051485559150795105P-PointMaximum Envelope17172072P-Point0991260Internal user air line 3/8” PT (with plug)Internal I/O connector is JL05-2A20-29SC (with cap). Mating connector will not be supplied, but complete cables are available as an option0.56625 dia50 dia6 dia Depth: 6mmPCD4045ºTapped holes M6(Depth: 10mm)(Pitch: 1.0) (4 holes)4-18 dia313375335200602602-12 dia200250335375Internal user air line 3/8” PT (with plug)Internal user I/O connector is JL05-2A20-29PC (with cap)Mating connector will not be supplied, butcomplete cables are available as an optionABCD3063View AView BView CView D 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 M aintenance Functions Displays troubleshooting for alarms, predicts reducer wear Number of Robots/Axes Up to 8 robots, 72 axes M ulti 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**