Motoman SIA10D 7-Axis Robot - MOTOMAN - #2

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Motoman CORPORATATE HEADQUARTERS 805 Liberty Lane, WEST CARROLLTONTON, OHIO 45449 Tel : 937.847.6200 • FAX: 937.847.6277SIA10D Robotot www.motoman.com T ECHNICAL SPECIFICATIONATIONS SUBJECT TOTO CHANGE WITHOUT NOTICE DS-421-A ©2009 MOTOOTOMAN INC. NOVEMBER 2009 MOTOOTOMAN IS A REGISTERED TRADEMARK windows is a registered trademark of microsoft ALL other MARKS ARE THE TRADEMARKS AND REGISTERED TRADEMARKS OF MOTOOTOMAN INC. Structure Articulated Mounting Floor, Wall or Ceiling Controlled Axes 7 Payload 10 kg (22.1 lb) Vertical Reach 1,203 mm (47.4") Horizontal Reach 720 mm (28.3") Repeatability ±0.1 mm (±0.004") S-Axis (Turning/Sweep) ±180° Maximum L-Axis (Lower Arm) ±110° Motion E-Axis (Elbow) ±170° Range U-Axis (Upper Arm) ±135° R-Axis ±180° B-Axis (Bend/Pitch/Yaw) ±110° T-Axis (Wrist Twist) ±180° S-Axis 170°/s L-Axis 170°/s Maximum E-Axis 170°/s Speed U-Axis 170°/s R-Axis 200°/s B-Axis 200°/s T-Axis 400°/s Approximate Mass 60 kg (132.3 lb) Power Consumption 1.5 kVA Allowable R-Axis 31.4 N • m Moment B-Axis 31.4 N • m T-Axis 19.6 N • m Allowable R-Axis 1.0 kg • m2 Moment of B-Axis 1.0 kg • m2 Inertia T-Axis 0.4 kg • m2 SIA10D SPECIFICATiONS All dimensions are metric (mm) and for reference only. Please request detail drawings for all design/engineering requirements. 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** VIEW DSECTION C-CVIEW AVIEW BCCBAD1BC2BCAir-2Air-1S1Connector DetailsS1-1S1-2260S-AXIS RANGE OF MOTION(PLUS OR MINUS DIRECTION)USER WIRING CONNECTORS ARE:51216-0800, 51216-0700MATCHING CONNECTORS ARE:51227-0800, 51227-0700 (MOLEX)1235155636360204Ø3603603601080R276R720737384.580.5100105123185°MECHANICAL LIMIT180°SOFT LIMIT185°MECHANICAL LIMIT180°SOFT LIMIT118165AIR (1) INLETPT3/8 TAPPED(WITH PLUG)AIR (2) INLETPT3/8 TAPPED(WITH PLUG)INTERNAL USER WIRING CONNECTORLF10WBRB-12PTHE MATING CONNECTORLF10WBP-12S (HIROSE)WILL NOT BE SUPPLIEDOPTIONAL 30° PITCH VARIABLEMECHANICAL STOPPERMECHANICAL STOPPER(MOVABLE SIDE)26422567.53017.523022597.51652X Ø84X Ø1410.56Ø17Ø802X Ø6 x10P.C.D.634X M6 X 1 11 DPP.C.D.61.4POINT PWORKING RANGEPOINT PAIR 1(RED)AIR 2(BLUE)2X AIR TUBEOD 4MMPOINT P7207201440