安川机器人-SDA,SIA系列产品样本.pdf安川机器人-SDA,SIA系列产品样本pdf,【简介】

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详细说明：安川机器人-SDA,SIA系列产品样本pdf,【简介】安川机器人-SDA,SIA系列产品样本（英文样本）更多内容请点击：http://www.gongboshi.comMOTOMAN leads the way in the new era and consistently offers new solutions to improve and to enhance the efficiency and quality of production lines The MOTOMAN- SDA and -SIA senes are new generation robots that will change the relationship between humans and robots as well as the concept of manufacturing with their unconventional robot forms(dual-arm and 7-axis single- arm) and the human-like movement Nowis the beginning of a new future that transcends ourimaginations 7-axis Slim Arm" for high level of freedom Single-arm in narrow spaces Robot The Sia single-arm robot resembles a human arm With seven joints like a human arm, the Sia robot has a highly degree of freedom and it can bend, twist or extend itself even in narrow spaces. This enables a space-saving, high-density layout 1. Space-saving and high-density layout 2. Flexibility Installation in narrow spaces between o Elbow movement (unique and unprecedented feature in the industry) machines is now possible Optimal for The 7-axis configuration has enabled the high-density layouts angle of the elbow to be changed without 7-axis robot affecting the tool position or posture requires less space than 6-axis robot Machine achine Elbow moves with flange osition unchanged Installation example of Installation example of o Flexible reach(to rear of workpiece) 7-axis robot 6-axis robot The arms flexibility enables the siA robot to be installed in high-density layout without interference and to enter 3 Internal user l/O wiring narrow spaces inaccessible to humans harness and air lines o Many installation options Besides eliminating peripheral interference, The Sia robot can be installed in many ways the Sia enabled complete offline simulation without affecting functionality: on the floor too on the wall, on the ceiling, or on a slope Product Line ( 7-axis Single-arm Robot MOTOMAN-SlA5D/F MOTOMAN-SIATOD/F MOTOMAN-SIAZOD/F MOTOMAN-SIA3OD MOTOMAN-SIA5OD Payload: 5 kg Payload: 10 kg Payload: 20 kg Payload: 30 kg Payload: 50 kg 3 New MoTOMAN Designs and Applications Designed to reduce human Workload for better Labor Conditions& Pursuit of Human-Robot Coexistence Applications Dual-arm Robot Improvement on Logistic process a Dual arms for secure handling o Continuous handling without a temporary stand or a reverse jig o Distributing parts for each process Improvement on Assembling process o Jigless assembly with dual arms o Jigless positioning with dual arms o High-accuracy assembly with high-speed nigh-precision movements Assembly of Automobile Engine Sorting with Returnable Cases Distributing of Parts Assembly and T esting Coordinated Operation with Welding Robot Other Applications Assembly of LCd panels Assembly of electrical appliances/lighting Assembly of cable harnesses Handling turning and assembly of automotive pa Handling of lengthy automotive parts Transfer of beverage packs e Transfer of returnable cases in containers Technical Consulting For more information on how to introduce the new generation robots into your system, contact your nearest Yaskawa representative Applications 7-axis Single-arm Robot Improvement on Logistic process o Installation in narrow spaces between machines o Reach into narrow spaces o Lifting operation(from a narrow space Improvement on Assembling process o Assembly in high-density layout of robots o Coordinated assembling operation of several robots without interference Attachment and Removal of Workpieces for NC Machines Assembly with 7-axis Robots in High-Density Layout u Coordinated operation of robots Handling between Machines in Limited Spaces 7-axis robot can go round to the backside Workpiece path When using Eliminate wasted space a 6-axis robot with a 7-axis robot Transfer of Workpieces EXample 1: Transter workpieces from right to left Example 2: Transfer workpieces from front to rear with only a single-arm robot in minimal space Technical Consulting For more intormation on how to introduce the new generation robots into your system, contact your nearest Yaskawa representative 5 Specifications and Dimensions Dual-arm Robot lOTOMAN-SDA5D/F Dual-arm)(15 axes)( Payload: 5 kg/arm (10 kg/dual arms The MoTOMAN-SDA5D/F is a dual-arm robot with a 5 kg payload per arm( total load for dual-arm robot: 10 kg) For small parts assembly and handling applications, this robot llows a more compact facility layout Features o The arms have been slimmed by employing a newly developed miniaturized actuator for the wrist section which comes closest to the parts and products. This has greatly reduced the interference of the arms with parts and products as well as interterence between the two arms themselves o With a repetitive positioning accuracy of +0.06 mm, the robot is ideal for small parts assembly processes that require delicate work to be performed with high accuracy o The narrowing of the motion range that usually results when downsizing a robot is avoided by an ingenious mechanism used for the arm joints, so maximum range is maintained ■ Dimensions Units:mm Manipulator Specifications Model 270 485 MOTOMAN-SDA5D/FK3 15( Articulated) 27060守 Controlled Axis 7 axes for left arm(R1). 7 axes for ight arm( R2), 1 rotary axis payload 5 kg/arm R1:-90 L-axis (lower arm) 110-1110° Range of E-axis (elbow twist 170°-+170° Motion 45.15035-148 R-axis m twist 180-1180 B-axis(wrist pitch/yav/) T-axis (wrist twist 180-+180 牛理 Rotation 3.14rac/s,180/s 3.49rac/s,200°s L-axis (lower arm 171.5da E-axis (elbow twist 3.4grac/s,200/s U-axis (upper arm) 3.49rac/s,200/s R-axis (upper arm twist 3.49rad/s.200°/s B-axis (wrist pitch/yaw/ 4.01rac/s,230°/s T-axis ( wrist twist, 6.11rad/s,350/s Allowable R-axis(upper arm twist) 14.7N·m Moment ch/yaw) 14.7N T-axis(wrist twist) 35N R1-Side Connector Allowable R-axis(upper arm twist) 0.45kg B-axis(wrist pitch/yaw 0.45kg·m Connector for interral 8 dia +0.015 hole F—[S1」 user VO wiring harness (GD4)「T- axis (wrist twist aAlR-1(Red Approx Mass 110kg 14 dia. hole a AIR-2(Blue) Air Tube Power Requirements*? 1 kvA (4 holes) Outside dia. 4 mm, 0℃to+40℃ Inside dia. 2.5 mm Humidi 20 to 80%RH(non-condensing R2-Side Connector Ambient Vibration Less than 4.9 m/s Connector for interral Conditions Free from corrosive cr explosive gasses 6O+0.03 S21 ring harness Others and liquids 240 Free from exposure to water, oil or du 280 -AIR-2(Blue) air Tube Free from excessive electrical noise (plasma Outside dia. 4 mm Inside dia : 2.5 mm k1: Conforms to JIs b 8432 k2: Varies in accordance with applications and motion patter Enlarged views of the tip the robot. When a dx100 contoller is used. the model number will have the letter " d"at the ent 6 Note: SI units are used for specifications MOTOMAN-SDA1OD/F Dual-arm)(15 axes)(Payload: 10 kg/arm(20 kg/dual arms) The MOTOMAN-SDA10D/F is human-sized and has two 7- axis arms that enable human ike movements Capable of assembling and handling heavy objects up to 10 kg per arm(total load for dual-arm robot: 20 kg). Easily applicable to existing manufacturing lines because of its human-like size Features o Same level of capability as a human in assembling and handling heavy objects o Human-like flexibility of motions achieved by having two arms with 7 axes each and a rotary axis at the waist o High-precision movement for accuracy o Enhanced acceleration performance for reduced operating timi o Independent control and operation of two arms for higher efficiency. o Keep costs low as the two arms can transfer workpieces from arm to arm and turn them without using a temporary stand or a reverse jig Dimensions Units: mm Manipulator Specifications Model MOTOMAN-SDA1OD/F* 。a 15 (Articulated) 8i Controlled Axis [7 axes for left arm(R1). 7 axes for right load 10 kg/ ar eatablllty 0.1mm Lamp(optional) 205 265265 S-axis(lifting) e-十 Anon ri L-axis (lower arm) s Motion U-axis(upper 135°-+135 R-axis (upper arm twist) 180 80° B-axis(wrist pitch/yay 110°-+110 65g|+(+) T-axis (wrist twist) 2.27rad/s,130/s S-axis(lifting 2.97rad/s,1707s L-axis(lower arm) 2.97rad/s,170/s R1 146 Maximum E-axis(elbow twist 297rads,170/s U-axis (upper arm) 297rad/s,170 (upper arm trist) 3.49rad/s,200%/s B-axis(wris: pitch/yaw) 3.4 9 rad/s,200°/s T-axis(wrist twist) 698rad/s,400/s Allowable R-axis (upper arm twist) 31.4N.m 53425 157.5 5250250 Moment axis (wrist pitch/yaw) 314N·m 505 T-axis (wrist twist) 19.6N·m Allowable R-axis(upper arm twist R1-Side Connector B-az 18dia.hoe.347.51005 107.510.05 dS1-1 Connector for internal (GDe/4)T-axis(wrist twist) 04kg·m2 (8 holes) 431-21 user I/O wiring harness d2 holes AIR-1(Red) P 220kg 2.7 kVA AIR-2(Blue)/Air Tube Temperature 0℃to+40℃ Outside dia. 4 mm Humidity 20 to 80%RH(non-condensing nside dia∴2.5mm 9 m/s R2-Side Connector Ambient Conditions Free from corros ve or explosive gasses S2-1 Connector fo [ s2-2uservo wiring Others and liquids Free from exposure tc water, oil or dust AIR-1(He Air Tube Free frcm excessive electrical noise plasma) AIR-2(Blue) k1: Conforms to JIs B 8432 Outside dia :4 k2: Varies in accordance with applications and motion patterns Inside dia : 2.5 mm E*3: The letter "F"at the end of the model number indicates trat an fs100 controller is used to control B: Enlarged views of the tip the rabat When a dx100 con roller is used. the model number will have the letter ' d"at the end Note: SI units are used for specifications 7 Specifications and Dimensions Dual-arm Robot lOTOMAN-SDA2OD/F Dual-arm)(15 axes)( Payload: 20 kg/arm (40 kg/dual arms The MOTOMAN-SDA20D/ F is a high-payload robot that is ble of handling heavy objects up to 20 kg per arm (total load for dual-arm robot: 40 k( Same as the SDAloD/F, the sda2od/f has 15 axes and realizes human-like flexibility of movement Features o Handling of heavy objects up to 20 kg per arm (total load for dual-arm robot: 40 kg) o High-speed and high-precision operation o Human-like flexibility of motions achieved by having two arms with 7 axes each and a rotary axis at the waist o The design of the hands can be simplified even for holding large objects, because the two arms actually hold and carry the objects ■ Dimensions Units:mm Manipulator Specifications Model MOTOMAN-SDA2OD/FK3 15( Articulated) Controlled axis 7 axes for left arm(R1). 7 axes for (R2,1 Payload 20 kg/arm R1 ROtation axis (lower arm) 110-1110 Range ofR E-axis (elbow twist Motion R2L U-axis(upper arm -130°-+130° R-axis(upper arm twist) 180-1180° B-axis (wrist pitch/yaw) 1090 T-axis(wrist twist) 1590 Rotation 2.18rad/s,125/s 2.27rads,130s L-axis (lower arm) 770 R1 2.27rads,130/s Maximum E-axis(elbow twist) 2.97 rad/s, 170/s R2 U-axis (upper arm 297rad/s,170/s 3.49rad/s.200°/s B-axis(Wrist pitch/yaw) 3.49rads,200°/s T-axis(wrist twist) 6.98rads,400°/G R-axis (upper arm twist) AllowableB-axis (wrist pitch/yaw) 588N·m Moment 58.8N·m T-axis(wrist twist 29,4N·m 10 cia. 0.05 hol R1-Side Connector Allowable R-axis(upper arm twist) 4.0Kg (2 holes) g B-axis(wrist pitch/yaw 4.0kg·m2 a 22 dia S1-1 Connector for intemal (GD24)「 T-axis (wrist twist) 2.0ka·m e(4 holes dS1-2 user I/O wiring harness aAIR-1(Red Approx Mass 380kg AIR-2(Blue) Air Tube Power Requirements*? 4.4 kVA 180±002 Outside dia :6 mm Temperature 0℃to+40℃ Inside dia: 4 mm Humidi 20 to 80%RH(non-condensing R2-Side Connector Ambient Vibration ess than 4.9 m/s 215t0.18 Conditions Free from corrosive cr explosive gasses Connector for intemal 270 S22 Others and liquids 360 user w/O wiring harness AIR-1(Red) Free from exposure to water, oil or du AIR-2(Blue) Air Tube Free from excessive electrical noise (plasma Outside dia: 6 mm k1: Conforms to JIs b 8432 Inside dia. 4 mm k2: Varies in accordance with applications and motion patter B: Enlarged views of the tip the robot. When a dx100 contoller is used. the model number will have the letter " d"at the ent Note: SI units are used for specifications Specifications and Dimensions 7-axis Single-arm Robot MOTOMAN-SIA5D/F Single-arm)(7 axes)( Payload: 5 kg The MoTOMAN-SlA5D/ F features seven controlled axes with a 5 kg payload Ideal for handling small objects in applications that require the robot to be installed in limited space, and where a high level of positioning accuracy is needed Features o High degree of motion like a human arm with its 7-axis arm o The arm has been slimmed by employing a newly developed miniaturized actuator for the wrist section, greatly reducing the interference of the arm with the workpiece o The narrowing of the motion range that usually results when downsizing a robot is avoided by an ingenious mechanism used for the arm joints, so maximum range is maintained o Light and weighs only 30 kg, so many installation choices are available: floor, ceiling, or wall o Environmental resistance: models with drip-proofing and for clean- room use are available Drip-proof protection level: IP65 for arm and IP54 for base. (Not acceptable to SIA5D/F flange at tip. A different model with a waterproof flange is available Cleanness level: ISo class 5 and complies with ISo 14644 standards when downflow of robot environment is 0. 4 m/s or faster Nctes: 1. Conduct a warming-up operation when the robot is to be used at low temperatures(10 degrees Celsius or lower, 2. Contact Yaska wa electric or de o By utilizing internal user O wiring harness and air lines integrated in the arm, layout can be planned offline without worrying about peripheral interterence (Internal user l/O wiring harness and air lines specifications: two air lines and eight-core cables) Ncte: Exte nal axis specificat cn for a hand can be accommodated. Contact Yaskawa Electric regarding your requiremen:s Dimensions Units: mm Manipulator Specifications Model MOTOMAN-SIASD/FN Controlled Axis 7 (Vertically articulated 270 148 Repeatability* 006mm S-axis(turning) -110°-+110° E-axis(elbow twist) 170-+170 129.5dia. U-axis(upper arm) R-axis (wrist roll) B-axis(wrist pitch/yaw) T-axis (wrist twist) S-axis(turning) 3.49rad/s,200s L-axis (lower arm) 49rad/s,200°s axis(elbow twist) 349rads,200°/s U-axis(upper arm) 3.49rad/Gs,200s R 3.49rad/s,200s (wrist pitch/yaw) 4.01rau/s,230/s 器10 dia. hole2 holey hole T-axis (wrist twist) 6.11rad/s,350°/s Allowable R-axis(wrist roll) 14.7N·m (4 holes 11=0.02 B-axis (wrist pitch/yaw 14.7N·m Moment G B-axis (wrist pitchiyaw 0. 45 kg (GD4)「 T-axis (wrist twist) 11 kg Approx Mass 30 kg s↑e5=02 a sT rector for internal Power Requirements *2 1.0 kVA AIR-1( Red) ature 0cto+40℃ AIR.2( Blue) Air Tube Humidity 20 to 80%RH(non-condensing 17356 Outside dia: 4 mm Ambient Vibration Less than 4. 9 m/s" Inside dia. 2.5 mm Conditions Free from corros ve or explosive gasses B: Enlarged views of the tip Others and liquids Free from exposure tc water, oil or dust Free frcm excessive electrical noise plasma) xk1: Conforms to JIs B8432. *k2: Varies in accordance with applications and motion patterns Ek 3: The letter "F"at the end of the model number indicates that an fstoo controller is used to contol the robot When a dX100 co roller is used, the model number will have the letter d"at the end Note: SI units are used for specifications. 9 Specifications and Dimensions 7-axis Single-arm Robot MOTOMAN-SIA1OD/F Single-arm)(7 axes)( Payload: 10 kg The MOTOMAN-SIA10D /F is a 7-axis robot with a 10 kg payload and is more compact than the SIA20D, F Optimal for handling small objects in limited space Features o High degree of motion like a human am with its 7-axis arm o The high flexibility of motion makes operation possible even in narrow spaces inaccessible to humans o Folds to compact size when not in use o Many installation options: on the floor, on the wall or on the ceiling o Optimal for handling small objects o Environmental resistance: models with drip-proofing and for clean-room use are available Drip-proof protection level: IP65 for arm and IP54 for base. (Not acceptable to SIA1OD/F flange at tip. a different model with a waterproof flange is available. Cleanness level: ISo class 5 and complies with Iso 14644 standards when downflow of robot environment is 0.4 m/s or faster Notas: 1. Conduct a warming-up operation when the robot is to be used at low temperatures(10 degrees Celsius or lower) 2. Contact Yaskawa Electric for details. o By utilizing intemal user VO wiring harness and air lines integrated in the arm, layout can be planned offline without worrying about peripheral interference (Internal user VO wiring harness and air lines specifications: two air hoses and twelve-core cables) Note External axis specification for a hand can be accommodated. Contact Yaskawa Electric regarding your requirements dimensions Units: mm Manipulator Specifications Model MOTOMAN-SIA1 OD/F* Controlled axis 7(Vertically articulated 10 kg T S-axis(turning) -180-+180 L-axis (lower arm) 0°-+110° Range of E-axis(elbow twist R-axis Motion U-axis(upper arm) 135-+135 845 80.5 R-axis (wrist roll 180°-1180 -axis(wrist pitch/yaw T-axis (wrist twist) -180°-+180 L-axis (lower arm 297rads,170/s E-axis 297rad/s,170°s 100 105 Maximum E-axis(elbow twist U-axis (upper am) 297rad/s,170 L-axis R-axis(wrist roll) 3.49rads,200s B-axis(wrist pitch/yaw 349rad/s,200°7 T-axis (wrist twist) 698rad/s,400°s Allowable L R-axis (wrist rol) 31.4N·m 204 dia Moment B-axis (wrist pitch/yaw) 31.4N·m 19.6N·m R- ist roll) 1.0kg·m axis (wrist pl 1.0k 14da.hcle67.5⊥C.02 (GDa/4) T-axis(wrist twist) 0.4 kg m 1.5 KVA Is1-1 Temperature o℃to+40℃ 剡十8 Connector for internal user O wiring hamess Humidity to 80%Rh(no Ambient Vibration ess than 4.9 m/s 97597.5 AIR-1(Red) Conditions Free from corrosive cr explosive gasses AIR.2(Blue) Air Tube and liquids Outside dia: 4 mm Others Free from exposure to water oil or dust Inside dia. 2.5 mm Free from excessive electrical noise (plasma) B: Enlarged views of the tip xk1: Conforms to JIS b 8432 *k 2: Varies in accordance with applications and motion pattern E3: The letter" F"at the end of the model number indicates that an f5100 ccntrcller is used to control the cbct. When a dxioo controller is used the model number will have the letter d"at the end Note SI units are used for specifications 10

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