2024年5月7日发(作者：夹谷饮)
MULTIPLE ROBOT CONTROL
MATERIAL HANDLING
PACKAGING
TOP REASONS TO BUY
n
Exceptionally fast robot with
wide range of motion provides
flexibility
n
Small interference radius
reduces floorspace
requirements
n
High repeatability provides
precision needed for a wide
variety of applications
SOLUTIONS IN MOTION
®
HP20D-SERIES
HP20D HP20RD HP20D-6
CUTTING • DISPENSING • HANDLING • MACHINE TENDING
MATERIAL REMOVAL • PACKAGING • PRESS TENDING • WELDING
Model Options:
20 kg Payload (HP20D and HP20RD)
6 kg Payload (HP20D-6)
Shelf-Mount (HP20RD)
Versatile, High-Speed Robots
n Compact design and advanced collision
n Fast, versatile six-axis HP20D, extended-
avoidance features with multiple robot
reach HP20D-6 and shelf-mount HP20RD
control allow up to eight robots (72 axes)
robots offer superior, high-speed performance
to be used together to maximize
in handling, machine tending, packaging,
productivity while minimizing overall
cutting and dispensing applications.
floorspace requirements.
n HP20D model: 20 kg payload; 1,717 mm
n Floor-, wall- or ceiling-mounted versions
horizontal reach; 3,063 mm vertical reach;
available for the HP20D and HP20D-6
±0.06 mm repeatability.
models.
n Extended-reach HP20D-6 version for
DX100 Controller
applications requiring a larger work
envelope: 6 kg payload; 1,915 mm
n Patented multiple robot control supports
horizontal reach; 3,459 mm vertical reach;
up to 8 robots/72 axes.
±0.06 mm repeatability.
n Windows
®
CE programming pendant with
n The shelf-mounted HP20RD is designed
color touch screen and USB interface.
for injection molding and other similar
n Faster processing speeds for smoother
applications: 20 kg payload; 2,017 mm
interpolation. Quicker I/O response.
horizontal reach; 3,134 mm vertical reach;
Accelerated Ethernet communication.
±0.06 mm repeatability.
n Extensive I/O suite includes integral PLC
n Powerful design with high moment of
and touch screen HMI, 2,048 I/O and
inertia ratings.
graphical ladder editor.
n Slim base, waist and arm allow robot to be
n Supports all major fieldbus networks,
placed close to workpiece holding fixtures
including EtherNet/IP, DeviceNet, Profibus-DP
to improve part accessibility.
and many others.
n Fast axial speeds and acceleration reduce
n Compliant to ANSI/RIA R15.06-1999 and
cycle times and increase production output.
other relevant ISO and CSA safety standards.
Optional Category 3 functional safety unit.
HP20D/HP20RD/HP20D-6 ROBOT
1417
180º
HP20D robot shown.
All dimensions are metric (mm) and for reference only. Please
request detail drawings for all design/engineering requirements.
1717
2072
P-Point
Maximum Envelope
R
1
D
7
1
7
8
0
150
795
105
A
P-Point
R
3
1
4
6
5
0
d
i
a
P
C
D
4
0
2
5
d
i
a
6 dia Depth: 6mm
View A
4-18 dia
313
2
0
0
5
5
9
0.5
Tapped holes M6
(Depth: 10mm)
(Pitch: 1.0) (4 holes)
6
45º
5
0
5
C
B
0
375
335
60
200
Internal user
air line 3/8” PT
(with plug)
260
991
Internal I/O connector is
JL05-2A20-29SC (with cap). Mating connector
will not be supplied, but complete cables are
available as an option
3
3
5
3
7
5
2-12 dia
260
View B
Internal user I/O connector
is JL05-2A20-29PC (with cap)
Mating connector will not be supplied, but
complete cables are available as an option
View C
2
5
0
Internal user air line
3/8” PT (with plug)
View D
ROBOT SPECIFICATIONS
Structure
Payload
HP20RD
HP20D HP20D-6
Shelf-mount
Vertical jointed-
arm type
20 kg (44.1 lbs)
3,063 mm (120.6")
1,717 mm (67.6")
±180°
+155°/-100°
+255°/-165°
±200°
+230°/-50°
±360°
197°/s
175°/s
187°/s
400°/s
400°/s
600°/s
268 kg (590.9 lbs)
All axes
2.0 kVA
39.2 N • m
39.2 N • m
19.6 N • m
1.05 kg • m
2
1.05 kg • m
2
0.75 kg • m
2
Vertical jointed-
arm type
6 kg (13.2 lbs)
3,459 mm (136.2")
1,915 mm (75.4")
±180°
+155°/-100°
+255°/-165°
±200°
+230°/-50°
±360°
197°/s
175°/s
187°/s
400°/s
400°/s
600°/s
273 kg (602 lbs)
All axes
2.8 kVA
11.8 N • m
9.8 N • m
5.9 N • m
0.24 kg • m
2
0.17 kg • m
2
0.06 kg • m
2
Vertical jointed-
arm type
20 kg (44.1 lbs)
3,134 mm (123.4")
2,017 mm (79.4")
+125°/-110°
+105°/-130°
+310°/-115°
±200°
±140°
±360°
180°/s
175°/s
187°/s
400°/s
400°/s
600°/s
293 kg (646.1 lbs)
All axes
2.0 kVA
39.2 N • m
39.2 N • m
19.6 N • m
1.05 kg • m
2
1.05 kg • m
2
0.75 kg • m
2
DX100 CONTROLLER SPECIFICATIONS**
Dimensions (mm)
Approximate Mass
Cooling System
Ambient
Temperature
Relative Humidity
Primary Power
Requirements
Digital I/O
NPN-Standard
PNP-Optional
Position Feedback
Program Memory
Pendant Dim. (mm)
Pendant Weight
Interface
Pendant Playback
Buttons
Maintenance Functions
Multi Tasking
Fieldbus
Ethernet
Safety
800 (w) x 1,000 (h) x 650 (d) (31.5" x 39.4" x 25.6")
250 kg max. (551.3 lbs)
Indirect cooling
During operation: 0° to 45° C (32° to 113° F)
During transit and storage: -10° to 60° C (14° to 140° F)
90% max. non-condensing
3-phase, 240/480/575 VAC at 50/60 Hz
Standard I/O: 40 inputs/40 outputs consisting of 16 system inputs/
16 system outputs, 24 user inputs/24 user outputs
32 Transistor Outputs; 8 Relay Outputs
Max. I/O (optional): 2,048 inputs and 2,048 outputs
By absolute encoder
JOB: 200,000 steps, 10,000 instructions
CIO Ladder Standard: 15,000 steps Expanded: 20,000 steps
169 (w) x 314.5 (h) x 50 (d) (6.7" x 12.4" x 2")
.998 kg (2.2 lbs)
One Compact Flash slot; One USB port (1.1)
Teach/Play/Remote Keyswitch selector Servo On, Start, Hold, and
Emergency Stop Buttons
Displays troubleshooting for alarms, predicts reducer wear
Up to 16 concurrent jobs, 4 system jobs
DeviceNet Master/Slave, AB RIO, Profibus, Interbus-S, M-Net,
CC Link, EtherNet IP/Slave
10 Base T/100 Base TX
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
Controlled Axes 6 6 6
Vertical Reach
Horizontal Reach
Repeatability
Maximum
Motion
Range
Maximum
Speed
Brakes
S-Axis (Turning)
L-Axis (Lower Arm)
U-Axis (Upper Arm)
R-Axis (Upper Arm Twist)
B-Axis (Pitch/Yaw)
T-Axis (Twist)
S-Axis
L-Axis
U-Axis
R-Axis
B-Axis
T-Axis
±0.06 mm (±0.002") ±0.06 mm (±0.002") ±0.06 mm (±0.002")
Approximate Mass
Power Consumption
Allowable R-Axis
Moment B-Axis
T-Axis
Allowable R-Axis
Moment of
B-Axis
Inertia
T-Axis
Programming Language INFORM III, menu-driven programming
Number of Robots/Axes Up to 8 robots, 72 axes
**See DX100 Controller data sheet (DS-399) for complete specifications
TECHNICAL SPECIFICATIONS SUBJECT TO CHANGE WITHOUT NOTICE
DS-407-G ©2012 YASKAWA AMERICA, INC. JUNE 2012
YASKAWA AMERICA, INC.
n
MOTOMAN ROBOTICS DIVISION
100 AUTOMATION WAY, MIAMISBURG, OHIO 45342
TEL: 937.847.6200
n
FAX: 937.847.6277
MOTOMAN IS A REGISTERED TRADEMARK
WINDOWS IS A REGISTERED TRADEMARK OF MICROSOFT
ALL OTHER MARKS ARE THE TRADEMARKS AND
REGISTERED TRADEMARKS OF YASKAWA AMERICA, INC.
3
0
6
3
180º
1
4
8
5
2
1
R
4
7
6
0
1
4
0
2024年5月7日发(作者：夹谷饮)
MULTIPLE ROBOT CONTROL
MATERIAL HANDLING
PACKAGING
TOP REASONS TO BUY
n
Exceptionally fast robot with
wide range of motion provides
flexibility
n
Small interference radius
reduces floorspace
requirements
n
High repeatability provides
precision needed for a wide
variety of applications
SOLUTIONS IN MOTION
®
HP20D-SERIES
HP20D HP20RD HP20D-6
CUTTING • DISPENSING • HANDLING • MACHINE TENDING
MATERIAL REMOVAL • PACKAGING • PRESS TENDING • WELDING
Model Options:
20 kg Payload (HP20D and HP20RD)
6 kg Payload (HP20D-6)
Shelf-Mount (HP20RD)
Versatile, High-Speed Robots
n Compact design and advanced collision
n Fast, versatile six-axis HP20D, extended-
avoidance features with multiple robot
reach HP20D-6 and shelf-mount HP20RD
control allow up to eight robots (72 axes)
robots offer superior, high-speed performance
to be used together to maximize
in handling, machine tending, packaging,
productivity while minimizing overall
cutting and dispensing applications.
floorspace requirements.
n HP20D model: 20 kg payload; 1,717 mm
n Floor-, wall- or ceiling-mounted versions
horizontal reach; 3,063 mm vertical reach;
available for the HP20D and HP20D-6
±0.06 mm repeatability.
models.
n Extended-reach HP20D-6 version for
DX100 Controller
applications requiring a larger work
envelope: 6 kg payload; 1,915 mm
n Patented multiple robot control supports
horizontal reach; 3,459 mm vertical reach;
up to 8 robots/72 axes.
±0.06 mm repeatability.
n Windows
®
CE programming pendant with
n The shelf-mounted HP20RD is designed
color touch screen and USB interface.
for injection molding and other similar
n Faster processing speeds for smoother
applications: 20 kg payload; 2,017 mm
interpolation. Quicker I/O response.
horizontal reach; 3,134 mm vertical reach;
Accelerated Ethernet communication.
±0.06 mm repeatability.
n Extensive I/O suite includes integral PLC
n Powerful design with high moment of
and touch screen HMI, 2,048 I/O and
inertia ratings.
graphical ladder editor.
n Slim base, waist and arm allow robot to be
n Supports all major fieldbus networks,
placed close to workpiece holding fixtures
including EtherNet/IP, DeviceNet, Profibus-DP
to improve part accessibility.
and many others.
n Fast axial speeds and acceleration reduce
n Compliant to ANSI/RIA R15.06-1999 and
cycle times and increase production output.
other relevant ISO and CSA safety standards.
Optional Category 3 functional safety unit.
HP20D/HP20RD/HP20D-6 ROBOT
1417
180º
HP20D robot shown.
All dimensions are metric (mm) and for reference only. Please
request detail drawings for all design/engineering requirements.
1717
2072
P-Point
Maximum Envelope
R
1
D
7
1
7
8
0
150
795
105
A
P-Point
R
3
1
4
6
5
0
d
i
a
P
C
D
4
0
2
5
d
i
a
6 dia Depth: 6mm
View A
4-18 dia
313
2
0
0
5
5
9
0.5
Tapped holes M6
(Depth: 10mm)
(Pitch: 1.0) (4 holes)
6
45º
5
0
5
C
B
0
375
335
60
200
Internal user
air line 3/8” PT
(with plug)
260
991
Internal I/O connector is
JL05-2A20-29SC (with cap). Mating connector
will not be supplied, but complete cables are
available as an option
3
3
5
3
7
5
2-12 dia
260
View B
Internal user I/O connector
is JL05-2A20-29PC (with cap)
Mating connector will not be supplied, but
complete cables are available as an option
View C
2
5
0
Internal user air line
3/8” PT (with plug)
View D
ROBOT SPECIFICATIONS
Structure
Payload
HP20RD
HP20D HP20D-6
Shelf-mount
Vertical jointed-
arm type
20 kg (44.1 lbs)
3,063 mm (120.6")
1,717 mm (67.6")
±180°
+155°/-100°
+255°/-165°
±200°
+230°/-50°
±360°
197°/s
175°/s
187°/s
400°/s
400°/s
600°/s
268 kg (590.9 lbs)
All axes
2.0 kVA
39.2 N • m
39.2 N • m
19.6 N • m
1.05 kg • m
2
1.05 kg • m
2
0.75 kg • m
2
Vertical jointed-
arm type
6 kg (13.2 lbs)
3,459 mm (136.2")
1,915 mm (75.4")
±180°
+155°/-100°
+255°/-165°
±200°
+230°/-50°
±360°
197°/s
175°/s
187°/s
400°/s
400°/s
600°/s
273 kg (602 lbs)
All axes
2.8 kVA
11.8 N • m
9.8 N • m
5.9 N • m
0.24 kg • m
2
0.17 kg • m
2
0.06 kg • m
2
Vertical jointed-
arm type
20 kg (44.1 lbs)
3,134 mm (123.4")
2,017 mm (79.4")
+125°/-110°
+105°/-130°
+310°/-115°
±200°
±140°
±360°
180°/s
175°/s
187°/s
400°/s
400°/s
600°/s
293 kg (646.1 lbs)
All axes
2.0 kVA
39.2 N • m
39.2 N • m
19.6 N • m
1.05 kg • m
2
1.05 kg • m
2
0.75 kg • m
2
DX100 CONTROLLER SPECIFICATIONS**
Dimensions (mm)
Approximate Mass
Cooling System
Ambient
Temperature
Relative Humidity
Primary Power
Requirements
Digital I/O
NPN-Standard
PNP-Optional
Position Feedback
Program Memory
Pendant Dim. (mm)
Pendant Weight
Interface
Pendant Playback
Buttons
Maintenance Functions
Multi Tasking
Fieldbus
Ethernet
Safety
800 (w) x 1,000 (h) x 650 (d) (31.5" x 39.4" x 25.6")
250 kg max. (551.3 lbs)
Indirect cooling
During operation: 0° to 45° C (32° to 113° F)
During transit and storage: -10° to 60° C (14° to 140° F)
90% max. non-condensing
3-phase, 240/480/575 VAC at 50/60 Hz
Standard I/O: 40 inputs/40 outputs consisting of 16 system inputs/
16 system outputs, 24 user inputs/24 user outputs
32 Transistor Outputs; 8 Relay Outputs
Max. I/O (optional): 2,048 inputs and 2,048 outputs
By absolute encoder
JOB: 200,000 steps, 10,000 instructions
CIO Ladder Standard: 15,000 steps Expanded: 20,000 steps
169 (w) x 314.5 (h) x 50 (d) (6.7" x 12.4" x 2")
.998 kg (2.2 lbs)
One Compact Flash slot; One USB port (1.1)
Teach/Play/Remote Keyswitch selector Servo On, Start, Hold, and
Emergency Stop Buttons
Displays troubleshooting for alarms, predicts reducer wear
Up to 16 concurrent jobs, 4 system jobs
DeviceNet Master/Slave, AB RIO, Profibus, Interbus-S, M-Net,
CC Link, EtherNet IP/Slave
10 Base T/100 Base TX
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
Controlled Axes 6 6 6
Vertical Reach
Horizontal Reach
Repeatability
Maximum
Motion
Range
Maximum
Speed
Brakes
S-Axis (Turning)
L-Axis (Lower Arm)
U-Axis (Upper Arm)
R-Axis (Upper Arm Twist)
B-Axis (Pitch/Yaw)
T-Axis (Twist)
S-Axis
L-Axis
U-Axis
R-Axis
B-Axis
T-Axis
±0.06 mm (±0.002") ±0.06 mm (±0.002") ±0.06 mm (±0.002")
Approximate Mass
Power Consumption
Allowable R-Axis
Moment B-Axis
T-Axis
Allowable R-Axis
Moment of
B-Axis
Inertia
T-Axis
Programming Language INFORM III, menu-driven programming
Number of Robots/Axes Up to 8 robots, 72 axes
**See DX100 Controller data sheet (DS-399) for complete specifications
TECHNICAL SPECIFICATIONS SUBJECT TO CHANGE WITHOUT NOTICE
DS-407-G ©2012 YASKAWA AMERICA, INC. JUNE 2012
YASKAWA AMERICA, INC.
n
MOTOMAN ROBOTICS DIVISION
100 AUTOMATION WAY, MIAMISBURG, OHIO 45342
TEL: 937.847.6200
n
FAX: 937.847.6277
MOTOMAN IS A REGISTERED TRADEMARK
WINDOWS IS A REGISTERED TRADEMARK OF MICROSOFT
ALL OTHER MARKS ARE THE TRADEMARKS AND
REGISTERED TRADEMARKS OF YASKAWA AMERICA, INC.
3
0
6
3
180º
1
4
8
5
2
1
R
4
7
6
0
1
4
0