Motoman SIA20D 7-Axis Robot - MOTOMAN - #2

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SiA20D Robotot www.motoman.com TECHNICAL SPECIFICATIONS SUBJECT TO CHANGE WITHOUT NOTICE DS-404-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 Structure Articulated Mounting Floor, Wall or Ceiling Controlled Axes 7 Payload 20 kg (44.1 lb) Vertical Reach 1,498 mm (59") Horizontal Reach 910 mm (35.8") 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) ±180° R-Axis ±180° B-Axis (Bend/Pitch/Yaw) ±110° T-Axis (Wrist Twist) ±180° S-Axis 180°/s L-Axis 180°/s Maximum E-Axis 170°/s Speed U-Axis 170°/s R-Axis 800°/s B-Axis 800°/s T-Axis 400°/s Approximate Mass 180 kg (397 lb) Power Consumption 2.2 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 8 kg • m2 SIA20D SPECIFICATiONS All dimensions are metric (mm) and for reference only. Please request detail drawings for all design/engineering requirements. BView AView BView C1500180420490410120109.5104988086M4M430°30°9810.530°108.25636Ø27P.C.D.80100Connector DetailsS1-2S1-1110°110°110°110°2601320800910130°130°390R910178R390910USER WIRING CONNECTORS ARE,1 51216-0800. MATCHING CONNECTORS ARE, 1 51227-0800 (MOLEX).PROVIDED BY USER.2X AIR HOSEØ6 OUTSIDEmolexmolexmolexAB2BCAir2Air13BC4BC18-120-291BC268165INTERNAL USER I/O CONNECTOR TYPE IS JL05-2A20-29PC (WITH CAP)MATING CONNECTOR IS NOT SUPPLIED, BUT COMPLETE CABLES ARE AVAILABLE AS AN OPTIONAIR INLET 13/8” PIPE TAP CONNECTION(WITH PLUG)AIR INLET 23/8” PIPE TAP CONNECTION(WITH PLUG)2802801203401206060143240130130143502404X Ø14 THRU2X Ø8 THRUAC 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**