Motoman MH50-20 Robot - MOTOMAN - #2

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TECHNICAL SPECIFICATIONS SUBJECT TO CHANGE WITHOUT NOTICE DS-401-A ©2009 MOTOMAN INC. NOVEMBER 2009 MOTOMAN IS A REGISTERED TRADEMARK windows is a registered trademark of microsoft corporationcorporation 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 MH50-20 robot shown. All dimensions are metric (mm) and for reference only. Please request detail drawings for all design/engineering requirements. 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**MH50-20 Robotot www.motoman.com VIEW CCBAINTERNAL USER I/O CABLE CONNECTORJL05-2A24-28PC (WITH CAP) MATING CONNECTOR WILL NOT BE SUPPLIED, BUT COMPLETE CABLES ARE AVAILABLE AS AN OPTIONINTERNAL USER AIR LINE 3/8” PT (WITH PLUG)180°180°1451800105POINT PR3106R965R3772084558531065922POINT P3501VIEW B4553853202802304004551536081951952301951952308X Ø22 THRU2X Ø12 THRUVIEW A4X M6 X 1 X x10 DP45°Ø6 x6 DPPCD40660.5Ø25Ø50INTERNAL USER I/O CABLE CONNECTOR JL05-2A24-28SC (WITH CAP) MATING CONNECTOR WILL NOT BE SUPPLIED, BUT COMPLETE CABLES ARE AVAILABLE AS AN OPTIONINTERNAL USER AIR LINE 3/8” PT (WITH PLUG)234234265349 Structure Articulated Controlled Axe 6 Payload 20 kg (44.1 lbs) Horizontal Reach 3,106 mm (122.3") Vertical Reach 5,585 mm (219.9") Repeatability ±0.15 mm (±0.006") S-Axis (Turning) ±180° Maximum L-Axis (Lower Arm) +135°/-90° Motion U-Axis (Upper Arm) +251°/-160° Range R-Axis (Upper Arm Twist) ±190° B-Axis (Pitch/Yaw) +230°/-50° T-Axis (Twist) ±360° S-Axis 180°/s Maximum L-Axis 178°/s Speed U-Axis 178°/s R-Axis 400°/s B-Axis 400°/s T-Axis 600°/s Approximate Mass 495 kg (1,091.5 lbs) Power Consumption 3.5 kVA Allowable R-Axis 39.2 N • m Moment B-Axis 39.2 N • m T-Axis 19.6 N • m Allowable R-Axis 1.05 kg • m2 Moment of B-Axis 1.05 kg • m2 Inertia T-Axis 0.75 kg • m2 Internal User I/O Cable 23 conductors + ground Internal User Air Line 3/8" pipe tap connection MH50-20 SPECIFICATiONS