MOTOMAN多功能机器人MH系列样本.pdfMOTOMAN多功能机器人MH系列样本pdf,MOTO

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详细说明：MOTOMAN多功能机器人MH系列样本pdf,MOTOMAN多功能机器人MH系列样本I short processing New robot Short Custome solutions process advantages Increased freedom in operat on or compact and slim design have made the new robots more optimized for specific applications. High-density Slimmer dcGign cnablos closer mounting Shorter production Higly efficient Smalicr Controller 3uvcs spacc lines production installation has contributed customers production line to saving space. The facility which enables Multiple Robot Controller prevents robots from Reduced number cf better quality. integrated process, rapid production and saving collisions saving enargy. space is called short precessing Instal ation space reduced by safety function restricting the rarge of Robot operation). Software a No Deviation from Track at Emergency Stop Playback path confirmation The Robot stops on the taught path at emergency he playback path mode during a test operation can stop and will not deviate from the path when be confirmed by a low speed test operation. This restarting, preventing interference of the Robot has mode the teaching operation with the optimum with nearby obstacles path in minimal time possible while verifying the No path crrors even al restart existence of interference with workpieces or jigs Teaching point 3 Playback Fath confirmation Emergency at low speed stop position Operating Teaching point 4 direction Teaching point 2w int 5 Interference Checking Function Optional Teaching point 1 Interference between the arms oi densely installed Robots can be canstantly Cube itlerlereiue zone Cube inler erewe eUH monitored to automatically stop movement if a collision is likely to occur. (Tnis prevents collisions between Robots caused by programming mistakes. Constantly checks the interference between the robot arm and up to 16 defined cubes to prevent the robot to collide with workp eces or peripheral igs.(See the figure at right for reference. )(Unde Devebpment) d Minimized Safety Fences Optional Saving Energy Software that is certified for Safety Category 3 provides a The servos are turned OFF automatically when the redundant restrict ons to the range of Robot operation Robot is stopped for a long period of time Reduced This enables installing a safety fence only in the power consumption helps lower running costs minimum area required for work. (Under Development) Safety fences can be limited to only a minimum area Cond tions〉 Twenty-four-hour operation in which the robot is operating for to downsize production facilities 16 hours and on standby for 8 hours Zone limit sw tches can be eliminated for robots in 〔 Rabot operation control on stansty until nextcommand setting process Operating Motor outputs Safety Fences status braces applied Previous safety fence while the robot Energy Motor savn is on standby. ou puls Arcrox 25%o arakas are applied at a fixed Minimized wime interrals after the standby satety fence er Tota/ Solutions to Achieve Short Processing Eas Operation Simulation operability of teaching and simulation have been improved to reduce time O quired for system startup Multi-window Display Function Moto SimEG-VRC Simulator optional Program operation can be checked while monitoring I/o oI The Simulator has evolved from merely simulating variables on the programming pendant so that teaching and Robot operation to a Virtual Controller that reproduces trial operation efficiency u, Duadic the functions, operations, and displays of the actual will increase Robot. Easy simulation is possible by anyone with an understanding of Robot operation = Quick Maintenance Troubleshooting MOTOMAN continually strives to improve monitoring, troubleshooting, and structures to reduce maintenance and recovery time from failures. ■ Speed Reducer Life Optional ■ Reduced Replacement Diagnosis Function Troubleshooting Time for parts The motor torque is monitored to When an alarm occurs. the detail We have reduced the time required lo diagnose the condition of the speed cause, and countermeasure of the error replace Controller parts to shorten reducer. An alarm signal can be set to are displayed on the Programming recovery time when troubles do occur output to replace the speed reducer Pendant to provide measures for (Required time for replacement: from before its life ends and troubleshooting 10 to 8 minutes: reduced by 20%) it can prevent the line to The encoder can be replaced with stop beforehand. A job L⊥的 standard tools since it employs a unit was created to measure style and thus the required time for the torque of each axis at periodic replacement is reduced intervals and create a torque database An optional zeroing function can be (shown below). The torque is compared to Ised to accurately and quickly reset values in the database to determine th the home position after replacing the deterioration status of the speed reducer. motor or encoder E Cause Countermeasure MOTOMAN-MH5 5 kg payload R706 mm maximum reach ■ Dimensions Units:mm二.」: P-point Maximum Envelope Tapped hales M5 (depth: 9) pitch: 0.8) (4 holes) 5 (fitting depth) 70 重即 5(fitting depth), co 5H7 dia holes 与 depth 7) View A Tapped holes MB (depth: 16 170 (pitch: 1.25](4 holes) 2-Air inlet Tapped holes PT1/4 86.5 (with pipe plug Connector for internal user IO wiin y farness HR1UA-10R-10P Matching connector HR-10A-10P-10S:=HIROSE s H-Point 4474 View B 0 t 178 46 12 dia. holes (4 holes) 00±0.05 View C E Manipulator Specifications Model MOTOMAN-MH5 R-axis (wrist roll) 12 Nm YRMH00005-c00 Allowable -axis(wl 12 Nm Controlled axis 6 Vertically articulated Moment 7N Payload 5 kg liwale R-axis(wrist roll 030.m Repeatabilit ⊥002mm Inertia B-axis(wrist pitch/yaw 0.30kgm2 s-axis(turning ±170° 4)T-axis(wrist twi 0.1 kg. m2 L-axis(lower arm) 150to-65 28 kg Range of U-axis(upper arm +255to-136 0℃to+45℃ Motion ±190 Humidity 20 to 80%cRH(non-condensing) 4. 9 m'a or les axis(wrist twist Arlen Free from corrosive gasses or liquids,or S-axis(turning 656rad.376 Conditions explosive gasses L-axis(lower arm 日11 350's Ethers Clean and dry MaximUm U-axis (upper arm) 698 400/s Free from excess ve electrical noise plasma R-axis(wrist roll) 785 450/s 1.0 kVA B-axis (wrist Ditcnyaw) 7.85 rad/s 450/s T-axis(wrist twist, *1:c。 forms to jIS B8432 1257rads,720°/s k2: Varies in accordance with applications and motion pattem Note: Sl units are used for specifi MOTOMAN-MH5L 5 kg payload, R895 mm maximum reach Dimensions Units: mm !.: P-point Maximum Envelope Tapped holes M5 ( depth pitch: 0.8)(4 holes 5(fitting depth) 55 6 ⊙5H7aia.hoes 5 (fitting depth (depth: 7) Tapped holes MR (rieth: 16) pitch: 1.25) (4 hoies) View A 2-Air inlet Tapped holes PT1/4 (with pipe plug) 6日1400341 90132267 1137 405 865 109 109 Connector for internal user IO wiring harness HR10A·10R-10P Mali il y rImleclur HF-10A-10P-10S=HIROSE S P-Point View B 503 198 0 0_209 14 16C 288 194 12 dia. holes 423 (1 holes View c Manipulator Specifications MMOTOMAN-MH5L R- ax s (wrist roll) 12 N.m YR-MHOOO5L- CO0 Allowable B-axis(wrist pitch/yaw) 12 Nm Controlled Axis 6(Vertically articulated) Momen T-axs (wrist twist) 7 Nm 5 kg llowatle R-axis(wrist roll) 0.30kg-m' Repeatability I ±0.03mm B-axis(wrist pitchlyaw) 0.30 kg. m -axis (turning) ±170 (GD/4) T-axis(wrist twist 0. 1 kg. m I-axis (lower arm +150t0-65 Mass 30 KO Range of U-axis (upper arm) +255′t0-138 Temperature to+45℃ Motion R-axis wrist roll) ±190° 20 to 80%aRH ( non-condensing) B-axis(wrist pitchlyaw)I ±125 Vibratien 4.9 m's or less T-axis (wrist twist) ±3C0 Amb∈rt Conditions Free fom corrosive gasses or liquids, Ol s-axis (turning) 4.71rad/s.270°/s explosive gasses L- axis (lower arm 489rads,280°/s Clean and dr Maximum U-axis (upper arm 524rads,300/s Free trom excess ve electrical noise(Fasma Speed R-axis (wrist roll) 785rads,450/s Power Requirements*2 10kvA B-axis (wrist ptchlyaw) 785rads,450/5 T-axis wrist twist) 1257rads.720/s 1: Conforms to JIs品8432 a2: Varies in accardance with applications and motion patterns 6 Notc=s units arc uscd for pccitications MOTOMAN-MH6 6 kg payload, R1422 mm maximum reach E Dimensions Units: mm . P-point Maximum Envelope 258"da >lapped hoes M6 6002dia. (1 hole), Depth: 6 View A Air inle! PT3/8 with pipe plug (A) Air inlet PT3/ 8 1722 with pipe plug (B) P-point e ding power sources b 141 Connector for internal user 蛾)° JLOS-2Aghamess 8/ T Matching connector JLO5-5A20-29S (proviced by users) View B 19g 240 250 :1352 18 dia. through holes, (4 holes) 16008. through 12 dia. through holes, 2 holes) holes,(1 hole) 102-0.1 10U±0.1 153+0.1 764 View c Manipulator Specifications Mod创l MOTOMAN-MH6 I R-axis(wrist roll) 118Nm YR-MHO0CQ6-A00 Allowable B-axis (wrist pitchlyaw) 9. 8 N-m Controlled Axis 6(Vertically articulated) Moment axis (wrist twist 5.9 N-m Payload Gkg Allowable R-axis(wrist roll) 0.27 kg m ±0.03mm Inertia B-axis (wrist pitch/yaw). 0.27 kg m2 axis (turn ±170 GD 4) T-axis (wrist twist 0.06 kg.m axis (ower arm) +155to-90 130kg Range of u-axis (upper arm) +250°to=175 Temperature 0cto+45℃ Motion A-axis(wrist rol) ±18U Humidity 20 to 80% RH(ncn-condcnsing 日-axs( Arist pitch/yaw) +225to-45 Vibration 4.9 m/s or less T-axis (wrist twist) ±360 Free from corrosive gasses or liquids, or S-axis (turning) 3.B4rad/,220°/s Plosive g L-axis(ower arm) 349rac/s,200/s Others Clean and dry Maximum u-axis (upper arm) 34rac/s,220°/s Free from excessive elec rical n ise(plasma) Speed R-axis( wrist roll) 7.16rds,410/s Power Requirements* 1.5kvA B-axis (wrist pitch/yaw] 7.16rad/s,410/s T-axis (wrist twist) 1065racs,610/s k1: Conforms to jIs B 8432 -2: Vanes in accordance with applications and motion pattens Nete: SI units are used for specifications MOTOMAN-MHOS 6 kg payload, R997 mm maximum reach ■ Dimensions units:mm「.: P-point Maximum Envelope 50-0a1b dia Tapped hales m6 Depth: 9, Pitch: 1.0 6 Depth: 9 View A Connector for internal user 1/O wiring harness: JLO5-2A20-29SC (with cap) Air inlet PT3/8 Air exhaust Pt3/3 with pipe plug Matching connector: with pipe plug JLO5-SA20-29Piprovided by users) 520 Connector for intemal user 1297 IC wiring harnEss P-Point JLO5-2A20-20FC (with capl 1 Matching connecter JL05-6A20-29s(prowided by users View B T 658 199 48号 240 132+0.1 450 18 dia. through 60 holes, (4 holes 1128 197172 256 300 359 160 dia. through 120dia thrcugh holes.(2 holes) 102±0.1 100+0 _153+0.1 View C Manipulator specifications Model MOTOMAN-MH6S R-axis (wrist roll) 1. 8 N-m Type YR-MHO0D6S-A00 Allowable B-axis(wrist pitch/yaw) 98N-m Controlled axis 6( vertically articulated) Moment T-axis (wrist twist) 5.9Nm Payload 6 kg Allowable R-axis (wrist roll) 0. 2/kg m2 Repeatability- ±0.08mm Inertia B-axis (wrist pitchlydw 0. 27 kg. m S-axis(turning) ±170 (D4)「 T-axis Iwrist tv 0. 06 kg m L-axis (lower arm) 133t Mass 120kg Range of U-axis (upper arm) +165t Temperature 0cto+45℃ Motion 20 to 80RH(non-condensing prtc +225"to-45 T-axis(wrist twist) s-axis (turning) 384ad/s,2207s Con- Vibration 4.9 m/s or less Free from corrosive gasses or liquids, or explosive gasses L× is (lo wer arm) 384ras/s,220/s Others Clean and ds Maximum U-axis(upper arm) 3.84rais.220/s Free from excessive electrical noise (plasma) Speed R-axis( wrist roll) 716rads,410/s 1.5 kVA B-axis(wrist pitchyaw) 716rad/s,410/s T-axis (wrist twist 10657ad/s,610/s 1: informs to jIs B 8432 i2: varas in accordance with applications and mot on patterns Note: Sl units are used for specifications

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