Motoman MH6-Series Robots - MOTOMAN - #2

Text version of the page

M H6 MH6S MH6-10 Structure Articulated Articulated Articulated Controlled Axes 6 6 6 Payload 6 kg (13.2 lbs) 6 kg (13.2 lbs) 10 kg (22.1 lbs) Horizontal Reach 1,422 mm (56") 997 mm (39.3") 1,422 mm (56") Vertical Reach 2,486 mm (97.9") 1,597 mm (62.9") 2,486 mm (97.9") Repeatability ±0.08 mm (±0.003") ±0.08 mm (±0.003") ±0.08 mm (±0.003") S-Axis (Turning) ±170° ±170° ±170° Maximum L-Axis (Lower Arm) +155°/-90° +133°/-80° +155°/-90° Motion U-Axis (Upper Arm) +250°/-175° +165°/-130° +250°/-175° Range R-Axis (Upper Arm Twist) ±180° ±180° ±180° B-Axis (Pitch/Yaw) +225°/-45° +225°/-45° +225°/-45° T-Axis (Twist) ±360° ±360° ±360° S-Axis 220°/s 220°/s 140°/s Maximum L-Axis 200°/s 220°/s 130°/s Speed U-Axis 220°/s 220°/s 135°/s R-Axis 410°/s 410°/s 270°/s B-Axis 410°/s 410°/s 270°/s T-Axis 610°/s 610°/s 400°/s Approximate Mass 130 kg (286.7 lbs) 120 kg (264.6 lbs) 130 kg (286.7 lbs) Power Consumption 1.5 kVA 1.5 kVA 1.5 kVA Allowable R-Axis 11.8 N • m 11.8 N • m 12.2 N • m Moment B-Axis 9.8 N • m 9.8 N • m 14.2 N • m T-Axis 5.9 N • m 5.9 N • m 7.3 N • m Allowable R-Axis 0.27 kg • m2 0.27 kg • m2 0.24 kg • m2 Moment of B-Axis 0.27 kg • m2 0.27 kg • m2 0.21 kg • m2 Inertia T-Axis 0.06 kg • m2 0.06 kg • m2 0.06 kg • m2 Internal User Electrical Cable 16 conductors 16 conductors 16 conductors + ground + ground + ground Internal User Air Hose (2) 3/8" PT (1)3/8" PT (2) 3/8" PT connections connection connections TECHNICAL SPECIFICATIONS SUBJECT TO CHANGE WITHOUT NOTICE DS-396-C ©2010 MOTOMAN INC. JANUARY 2010 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 Libertyiberty Lane, WEST CARROLLTON, OHIO 45449 Tel: 937.847.6200 • FAX: 937.847.6277 MH6/MH6-10 robot shown. All dimensions are metric (mm) and for reference only. Please request detail drawings for all design/engineering requirements. VIEW CCB170°170°45064095614R381R1422R27030026029230026060601507512942401321021531321021531001304X Ø18 THRU2X Ø16 THRUØ12 THRUINTERNAL USER AIR LINE 3/8” PT(WITH PLUG)INTERNAL USER CABLE CONNECTORJL05-2A20-29PC (WITH CAP) MATING CONNECTOR WILL NOT BE SUPPLIED, BUT COMPLETE CABLES ARE AVAILABLE AS AN OPTIONVIEW BINTERNAL USER CABLE CONNECTORJL05-2A20-29PC (WITH CAP)MATING CONNECTOR WILL NOT BE SUPPLIED, BUT COMPLETE CABLES ARE AVAILABLE AS AN OPTIONINTERNAL USER AIR LINE 3/8” PT(WITH PLUG)155112215014227641722POINT PPOINT PWORKING RANGEVIEW A45°4X M6 X 1 : 6 mm DPØ6: 6 mm DPPCD4066Ø25Ø50A 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**MH6/MH6S/MH6-10 Robotsots www.motoman.com Robot SPECIFICATiONS