Motoman SDA20D Dual-Arm Robot - MOTOMAN - #2

Text version of the page

TECHNICAL SPECIFICATIONS SUBJECT TO CHANGE WITHOUT NOTICE DS-414-A ©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 All dimensions are metric (mm) and for reference only. Please request detail drawings for all design/engineering requirements. Structure Articulated Mounting Floor Controlled Axes 15 (7 axes per arm plus base rotation) Payload 20 kg (44.1 lbs)/arm Horizontal Reach per Arm 910 mm (35.8") Horizontal Reach (P-point to P-point) 2,590 mm (102") Vertical Reach 1,820 mm (71.7") Repeatability ±0.1 mm (±0.004") Rotation-Axis (Waist) ±180° S-Axis (Lifting) ±180° Maximum L-Axis (Lower Arm) ±110° Motion E-Axis (Elbow) ±170° Range U-Axis (Upper Arm) ±130° R-Axis (Upper Arm Twist) ±180° B-Axis (Wrist Pitch/Yaw) ±110° T-Axis (Wrist Twist) ±180° Rotation-Axis 125°/s S-Axis 130°/s Maximum L-Axis 130°/s Speed E-Axis 170°/s U-Axis 170°/s R-Axis 200°/s B-Axis 200°/s T-Axis 400°/s Approximate Mass 380 kg (837.9 lbs) Power Consumption 4.4 kVA Allowable R-Axis 58.8 N • m Moment B-Axis 58.8 N • m T-Axis 29.4 N • m Allowable R-Axis 4 kg • m2 Moment of B-Axis 4 kg • m2 Inertia T-Axis 2 kg • m2 SDA20D SPECIFICATiONSSDA20D Robotot www.motoman.com ABCR1R2180°180°868097104110120R420R910R390110°110°130°130°110°110°R910R3904904201801501590R910R420R420R3907703853851010180°180°R1323S2-1AIR-3(RED),AIR-4(BLUE)S2-2S1-1AIR-1(RED),AIR-2(BLUE)S1-2770550690R2-SIDE CONNECTORR1-SIDE CONNECTORPOINT PWORKING RANGER1 POINT PMAXIMUM ENVELOPER1 POINT PR2 POINT PR2 POINT PMAXIMUM ENVELOPEMAXUMUM RADIUSOF ROTATIONUSER WIRING CONNECTORS ARE,51216-0800MATCHING CONNECTORS ARE,51227-0800 (MOLEX)2X AIR HOSEØ6 OUTSIDEØ4 INSIDE260POINT PWORKING RANGEVIEW AVIEW BVIEW CM6(RANGE WHERE THE DIMENSION 100 DIA. IS AVAILABLE)215±0.1215±0.1140±0.02140±0.02360270360180±0.0242056530°30°9830°Ø108.256P.C.D.80100 dia. 0-0.03510.56Ø27¦2¦2¦136X M8 X 1.25 X x12(EQUALLY SPACED)2X Ø8 x104X Ø222X Ø104X AIR INLETPT3/8 TAPPED(WITH PLUG)USER WIRING CONNECTORSTYPE IS JL05-2A20-29PC (CAPPED)MATCHING CONNECTOR TYPE ISJL05-6A20-29SC Dimensions (mm) 1,200 (w) x 1,000 (h) x 650 (d) 47.2" 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**