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安川电机（中国）有限公司是有近100年历史的日本安川电机株式会社全额投资的外商独资企业，于1999年4月在上海注册成立，注册资金3110万美金。
随着业务范围和企业规模的不断扩大，公司除上海总部外还在广州、北京、沈阳、成都等地开设了分公司，并在中国各地区设立了代理店和经销商，组成一个强大而全面的服务网络，使客户能最快捷地获得专业的咨询服务。
公司设有销售部、技术部、售后服务部、物流部等部门，企业规模在不断地扩大中。
机器人事业多功能机器人莫托曼是以“提供解决方案”为概念，不断生机勃勃前进着的安川电机机器人产品系列在重视客户间交流对话的同时，针对更宽广的需求和多种多样的问题提供最为合适的解决方案，并实行对FA.CIM系统的全线支持。
截至2011年3月，本公司的机器人累计出售台数已突破23万台，活跃在从日本国内到世界各国的焊接、搬运、装配、喷涂以及放置在无尘室内的液晶显示器、等离子显示器和半导体制造的搬运搬送等各种各样的产业领域中。
企业采用机器人代替人工生产已经不是什么新奇事了，机器人生产具有很多的优势，因而被人们大力推广。
安川机器人就是一个比较有名的品牌，成立至今已经推出多种用途的机器人，下面就来为大家详细介绍安川机器人型号。
安川机器人型号主要有以下几种：产品一，安川机器人SEMISTAR-M、V系列--MCL，MFL，MFS系列MCL165MCL165适用于洁净室内大型重物的搬运。
最大负载重达165KG，洁净度达到ISO6级。
产品二，安川机器人SEMISTAR-M、V系列--MCL，MFL，MFS系列SEMISTAR-VD95DSEMISTAR-VD95D适用于真空环境内最大搬运尺寸达730*920mm双腕玻璃基板搬运机器人!产品三，安川机器人SEMISTAR-M、V系列--MCL，MFL，MFS系列MFS2500DMFS2500D实现洁净室内多层第8代超大型液晶玻璃基板箱体内的高速搬运!产品四，安川MS165，MS165紧凑型非常高，动作范围大，有助于回避干涉，在同样姿态下可增加机器人打点数，在提高生产效率和操作便利性上为用户提供有利帮助。
*1: F=Floor, W=Wall, C=Ceiling, S=Shelf (Note : S-axis motion is limited when mounted on the wall.)*2: Conforms to JIS B 8432.*3: Varies in accordance with applications and motion patterns.ApplicationArc Welding Manipulator Model (MOTOMAN -)VA 1400MA 1400MA 1800MA 1900MA 3100ControllerDX 100 Models NX 100 ModelsXRC ModelsNXC 100 Models Mounting *1F , W, C F , W, C F , W, C F , W, C F , W, CControlled Axis 76666Payload3kg3kg 15kg 3kg 3kg Vertical Reach 2475 mm2511 mm 3243 mm 3437 mm 5615 mm Horizontal Reach1434 mm 1434 mm 1807 mm 1904 mm 3121 mm Repeatability *2±0.08 mm±0.08 mm±0.08 mm±0.08 mm±0.15 mmRange ofMotion S -axis (Turning ) -170+170-170+170-180+180-180+180-180+180L -axis (Lower Arm ) -70+148-90+155-100+155-110+155-90+135E -axis (Elbow ) -90+90U -axis (Upper Arm ) -175+150-175+190-175+210-165+220-160+251R -axis (Wrist Roll ) -150+150-150+150-175+175-150+150-150+150B -axis (Wrist Pitch/Yaw) -45+180-45+180-45+180-45+180-45+180T -axis (Wrist Twist ) -200+200-200+200-200+200-200+200-200+200MaximumSpeedS -axis (Turning )220/s 220/s 195/s 197/s 180/s L -axis (Lower Arm )200/s 200/s 175/s 175/s 178/s E -axis (Elbow )220/sU -axis (Upper Arm )220/s 220/s 190/s 185/s 178/s R -axis (Wrist Roll )410/s410/s 380/s 410/s 400/s B -axis (Wrist Pitch/Yaw )410/s410/s 340/s 410/s 410/s T -axis (Wrist Twist )610/s 610/s 560/s 610/s 610/s Allowable MomentR -axis (Wrist Roll)8.8N m8.8N m 38.6N m 8.8N m 8.8N m B -axis (Wrist Pitch/Yaw )8.8N m8.8N m 38.6N m 8.8N m 8.8N m T -axis (Wrist Twist )2.9N m2.9N m 7.35N m 2.9N m 2.9N m Allowable R -axis (Wrist Roll )0.27kg m 20.27kg m 21.04kg m 20.27kg m 20.27kg m 2Inertia B -axis (Wrist Pitch/Yaw)0.27kg m 20.27kg m 21.04kg m 20.27kg m 20.27kg m 2(GD 2/4)T -axis (Wrist Twist )0.03kg m 20.03kg m 20.04kg m 20.03kg m 20.03kg m 2Mass 150kg130kg 380kg 280kg 501kg Power Requirements *31.5kVA1.5kVA2.5kVA2.0kVA2.5kVAApplication Optimizing Robots Arc WeldingMOTOMAN-VA 1400MOTOMAN -MA 3100MOTOMAN-MA 1400MOTOMAN-MA 1800MOTOMAN-MA 1900*1: F=Floor, W=Wall, C=Ceiling, S=Shelf (Note : S -axis motion is limited when mounted on the wall.)*2: Conforms to JIS B 8432.*3: Varies in accordance with applications and motion patterns.*4: When not used with an external cable.ApplicationSpot Welding Manipulator Model (MOTOMAN -)VS 50MS 80MS 120ES 165D ES 165RDES 200D ES 200RD ES 280DControllerDX 100 Models NX 100 ModelsXRC ModelsNXC 100 ModelsMounting *1F F F F S F S FControlled Axis 76666666Payload50kg80kg *4120kg 165kg *4165kg *4200kg *4200kg *4280kg Vertical Reach 2597 mm 3397 mm 2163 mm 3372 mm 4782 mm 3372 mm 4782 mm 3022 mm Horizontal Reach 1630 mm 2061 mm 1623 mm 2651 mm 3140 mm 2651 mm 3140 mm 2446 mmRepeatability *2±0.1 mm±0.07 mm ±0.2 mm ±0.2 mm±0.2 mm 0.2 mm±0.2 mm ±0.2 mm Range ofMotionS -axis (Turning )-180+180-180+180-150+150 -180+180-180+180-180+180-180+180-180+180L -axis (Lower Arm )-60+125-60+120-60+50-60+76-130+80-60+76-130+80-60+76E -axis (Elbow )-170+170U -axis (Upper Arm )-35+215-170+90-105+72 -142.5+230-112+208-142.5+230-107+208-142.5+230R -axis (Wrist Roll )-170+170-360+360*4-360+360-360+360*4-360+360*4 -360+360*4-360+360*4-360+360B -axis (Wrist Pitch/Yaw)-125+125-125+125*4-130+130-130+130*4-130+130*4 -125+125*4-125+125*4-125+125T -axis (Wrist Twist )-180+180-360+360*4-360+360-360+360*4-360+360*4-360+360*4-360+360*4-360+360MaximumSpeedS -axis (Turning )170/s 170/s 130/s 110/s 105/s 95/s 90/s *490/s L -axis (Lower Arm )130/s 140/s110/s 110/s105/s 90/s85/s *480/sE -axis (Elbow )130/sU -axis (Upper Arm )130/s 160/s 130/s 110/s105/s 95/s 85/s *490/s R -axis (Wrist Roll )130/s230/s 215/s 175/s 175/s 120/s 120/s 115/s B -axis (Wrist Pitch/Yaw )130/s230/s 180/s 150/s 150/s 120/s 120/s 110/s T -axis (Wrist Twist )200/s 350/s 300/s 240/s 240/s 190/s 190/s 190/s AllowableMomentR -axis (Wrist Roll )377N m392N m *4588N m 921N m *4921N m *41344N m *41344N m *41333N m B -axis (Wrist Pitch/Yaw )377N m392N m *4588N m 921N m *4921N m *41344N m *41344N m *41333N m T -axis (Wrist Twist )147N m196N m *4392N m 490N m 490N m 715N m 715N m 706N m A ll owab le R -axis (Wrist Roll )29.6kg m 228kg m 2*435kg m 285kg m 2*485kg m 2*4143kg m 2*4143kg m 2*4142kg m 2Inertia B -axis (Wrist Pitch/Yaw)29.6kg m 228kg m 2*435kg m 285kg m 2*485kg m 2*4143kg m 2*4143kg m 2*4142kg m 2(GD 2/4)T -axis (Wrist Twist )12.5kg m 211kg m 2*414.5kg m 245kg m 245kg m 280kg m 280kg m 279kg m 2Mass640kg 550kg 950kg 1100kg 1540kg 1130kg 1570kg 1120kg Power Requirements *35.0kVA 4.0kVA 4.5kVA 5.0kVA5.0kVA5.0kVA 5.0kVA 10kVAMOTOMAN -VS 50MOTOMAN -MS 80MOTOMAN -MS 120MOTOMAN -ES 165DMOTOMAN-ES 200DMOTOMAN-ES 200RDMOTOMAN-ES 280DMOTOMAN-ES 165RDApplication Optimizing Robots Spot WeldingApplicationMaterial Handling(General purpose)Manipulator Model (MOTOMAN -)HP 3JMH 5MH 5LMH 6MH 6SHP 20DHP 20D -6MH 50MH 50-20ControllerDX 100 ModelsNX 100 Models XRC Models NXC 100 Models*4*4Mounting *1F, W, CF , W, CF , W, CF , W, CF , W, CF, W, CF, W, CF , W, CF , W, CControlled Axis 666666666Payload 3kg 5kg 5kg 6kg 6kg 20kg 6kg 50kg 20kg Vertical Reach 804 mm 1193 mm 1560 mm 2486 mm 1597 mm 3063 mm 3459 mm 3578 mm 5585 mm Horizontal Reach 532 mm706 mm895 mm1422 mm997 mm1717 mm1915 mm2061 mm3106 mmRepeatability *2±0.03 mm ±0.02 mm ±0.03 mm ±0.08 mm ±0.08 mm ±0.06 mm ±0.06 mm ±0.07 mm ±0.15 mmRange of MotionS -axis (Turning )-160+160 -170+170 -170+170 -170+170 -170+170 -180+180 -180+180 -180+180 -180+180L -axis (Lower Arm) -85+90-65+150-65+150 -90+155 -80+133-110+155 -110+155-90+135 -90+135U -axis (Upper Arm) -105+260 -136+255 -138+255 -175+250 -130+165 -165+255 -160+255 -170+251 -160+251R -axis (Wrist Roll ) -170+170 -190+190 -190+190 -180+180 -180+180 -200+200 -200+200 -360+360 -190+190B -axis (Wrist Pitch/Yaw ) -120+120 -125+125 -125+125 -45+225 -45+225-50+230-50+230 -125+125-50+230T -axis (Wrist Twist) -360+360 -360+360 -360+360 -360+360 -360+360 -360+360 -360+360 -360+360 -360+360Maximum SpeedS -axis (Turning )200/s 376/s 270/s 220/s 220/s 197/s 197/s 180/s 180/s L -axis (Lower Arm )150/s350/s 280/s 200/s 220/s 175/s 175/s 178/s 178/s U -axis (Upper Arm )190/s 400/s 300/s 220/s 220/s 187/s 187/s 178/s 178/s R -axis (Wrist Roll )300/s 450/s 450/s 410/s 410/s 400/s 400/s 250/s 400/s B -axis (Wrist Pitch/Yaw )300/s 450/s 450/s 410/s 410/s 400/s 400/s 250/s 400/s T -axis (Wrist Twist)420/s 720/s 720/s 610/s 610/s 600/s 600/s 360/s 600/s Allowable Moment R -axis (Wrist Roll )5.39N m 12N m 12N m 11.8N m 11.8N m 39.2N m 11.8N m 216N m 39.2N m B -axis (Wrist Pitch/Yaw)5.39N m 12N m 12N m 9.8N m 9.8N m 39.2N m 9.8N m 216N m 39.2N m T -axis (Wrist Twist )2.94N m 7N m7N m5.9N m5.9N m19.6N m5.9N m147N m 19.6N m Allowable Inertia (GD 2/4)R -axis (Wrist Roll )0.1kg m 20.30kg m 20.30kg m 20.27kg m 20.27kg m 21.05kg m 20.24kg m 228kg m 21.05kg m 2B -axis (Wrist Pitch/Yaw)0.1kg m 20.30kg m 20.30kg m 20.27kg m 20.27kg m 21.05kg m 20.17kg m 228kg m 21.05kg m 2T -axis (Wrist Twist)0.03kg m 20.1kg m 20.1kg m 20.06kg m 20.06kg m 20.75kg m 20.06kg m 211kg m 20.75kg m 2Mass27kg28kg 30kg 130kg 120kg 268kg 273kg 550kg 495kg Power Requirements*30.5kVA1.0kVA1.0kVA1.5kVA1.5kVA2.0kVA2.0kVA4.0kVA3.5kVA*1: F=Floor, W=Wall, C=Ceiling, S=Shelf (Note : S-axis motion is limited when mounted on the wall.)*2: Conforms to JIS B 8432.*3: Varies in accordance with applications and motion patterns.*4: Only for handling.HandlingApplication Optimizing Robots MOTOMAN -HP 3J MOTOMAN-HP 20DMOTOMAN-HP 20D -6MOTOMAN-MH 50MOTOMAN-MH 50-20MOTOMAN-MH 5MOTOMAN-MH 5LMOTOMAN-MH 6MOTOMAN-MH 6SApplicationMaterial Handling(General purpose)Manipulator Model (MOTOMAN -)MH 80MH 165MH 200MH 215MH 250UP 350DUP 400RDUP 350D -500UP 350D -600ControllerDX 100 ModelsNX 100 Models XRC Models NXC 100 ModelsMounting *1F F F F F F S F FControlled Axis 666666666Payload 80kg 165kg *4200kg *4215kg 250kg 350kg 400kg 500kg 600kg Vertical Reach 3578 mm 3372 mm 3372 mm 3894 mm 3490 mm 2761 mm 4908 mm 2761 mm 2761 mm Horizontal Reach 2061 mm2651 mm2651 mm2912 mm2710 mm2542 mm3518 mm2542 mm2542 mmRepeatability *2±0.07 mm ±0.2 mm 0.2 mm ±0.2 mm 0.2 mm ±0.5 mm ±0.5 mm ±0.5 mm ±0.5 mmRange of Motion S -axis (Turning )-180+180 -180+180-180+180 -180+180 -180+180 -150+150 -150+150 -150+150 -150+150L -axis (Lower Arm)-90+135-60+76-60+76-60+76-60+76-55+61-122+20-55+61-55+61U -axis (Upper Arm ) -170+251 -142.5+230 -142.5+230 -142.5+230 -142.5+230-113+30-9+120-113+30-113+30R -axis (Wrist Roll ) -360+360 -360+360*4 -360+360*4 -360+360 -360+360 -360+360 -360+360 -360+360 -360+360B -axis (Wrist Pitch/Yaw ) -125+125 -130+130*4 -125+125*4 -125+125 -125+125 -125+125 -120+120 -125+125 -125+125T -axis (Wrist Twist ) -360+360 -360+360*4 -360+360*4 -360+360 -360+360 -360+360 -360+360 -360+360 -360+360Maximum SpeedS -axis (Turning )170/s 110/s 95/s 100/s 100/s 95/s 80/s 80/s 60/s L -axis (Lower Arm)140/s 110/s 90/s 90/s 90/s 95/s 80/s 80/s 70/s U -axis (Upper Arm )160/s 110/s 95/s 97/s 97/s 95/s 80/s 80/s 70/s R -axis (Wrist Roll )230/s 175/s 120/s 120/s 120/s 100/s 80/s 100/s 80/s B -axis (Wrist Pitch/Yaw )230/s 150/s120/s 120/s 120/s 100/s 80/s 100/s 80/s T -axis (Wrist Twist)350/s 240/s190/s190/s190/s 160/s 160/s 160/s 160/s Allowable Moment R -axis (Wrist Roll )392N m 921N m *41344N m *41176N m 1385N m 1960N m 1960N m 1960N m 2450N m B -axis (Wrist Pitch/Yaw)392N m 921N m *41344N m *41176N m 1385N m 1960N m 1960N m 1960N m 2450N m T -axis (Wrist Twist )196N m 490N m 715N m 710N m735N m 823N m 833N m 823N m 823N m Allowable Inertia (GD 2/4)R -axis (Wrist Roll )28kg m 285kg m 2*4143kg m 2*4317kg m 2317kg m 2150kg m 2150kg m 2150kg m 2200kg m 2B -axis (Wrist Pitch/Yaw)28kg m 285kg m 2*4143kg m 2*4317kg m 2317kg m 2150kg m 2150kg m 2150kg m 2200kg m 2T -axis (Wrist Twist)11kg m 245kg m 280kg m 2200kg m 2200kg m 290kg m 250kg m 290kg m 290kg m 2Mass555kg 1100kg 1130kg 1140kg 1130kg 2200kg 3600kg 2350kg 2400kg Power Requirements *34.5kVA5.0kVA5.0kVA6.0kVA6.0kVA5.5kVA12kVA5.5kVA7.0kVA*1: F=Floor, W=Wall, C=Ceiling, S=Shelf (Note : S-axis motion is limited when mounted on the wall.)*2: Conforms to JIS B 8432.*3: Varies in accordance with applications and motion patterns.*4: When not used with an external cable.MOTOMAN-MH 80MOTOMAN -MH 250MOTOMAN -UP 350D MOTOMAN -UP 400RDMOTOMAN -UP 350D -500MOTOMAN -UP 350D -600MOTOMAN-MH 165MOTOMAN-MH 200MOTOMAN-MH 215ApplicationPicking / Packing PalletizingManipulator Model(MOTOMAN -)MPK 2MPK 50MPL 80MPL 100MPL 160MPL 300MPL 500MPL 800ControllerDX 100 Models NX 100 ModelsXRC Models NXC 100 ModelsMounting *1F ,W,C F F F F F F FControlled Axis 54544444Payload2kg50kg 80kg 100kg 160kg 300kg 500kg 800kg Vertical Reach 1625 mm 1668 mm 3291 mm 3024 mm 3024 mm 3024 mm 3024 mm 3024 mm Horizontal Reach900 mm1893 mm 2061 mm 3159 mm 3159 mm 3159 mm 3159 mm 3159 mm Repeatability *2±0.5 mm±0.5 mm ±0.07 mm ±0.5 mm ±0.5 mm ±0.5 mm ±0.5 mm ±0.5 mm Range of MotionS -axis (Turning )-170+170-180+180-180+180-180+180 -180+180 -180+180 -180+180 -180+180L -axis (Lower Arm)-120+120-35+80-90+135-45+90-45+90-45+90-45+90-45+90U -axis (Upper Arm)-102+282-105+15-160+35-120+15.5-120+15.5-120+15.5-120+15.5-120+15.5R -axis (Wrist Roll )B -axis (Wrist Pitch/Yaw)-150+150 -15+15T -axis (Wrist Twist)-270+270 -350+350- 360+360-360+360 -360+360-360+360-360+360-360+360Maximum SpeedS -axis (Turning )320/s185/s 170/s 140/s 140/s 90/s85/s 65/s L -axis (Lower Arm )330/s215/s 170/s 140/s 140/s 100/s 85/s 65/s U -axis (Upper Arm )330/s215/s 170/s140/s 140/s110/s 85/s 65/sR -axis (Wrist Roll )B -axis (Wrist Pitch/Yaw )380/s 170/s T -axis (Wrist Twist )2000/s374/s350/s 305/s 305/s 195/s 195/s 125/sAllowableMoment R -axis (Wrist Roll )B -axis (Wrist Pitch/Yaw)3.5N m 78.4N m T -axis (Wrist Twist )1.5N m 20.5N m Allowable R -axis (Wrist Roll )Inertia B -axis (Wrist Pitch/Yaw)0.065kg m 216kg m 2(GD 2/4)T -axis (Wrist Twist)0.012kg m 25.5kg m 26.1kg m 280kg m 280kg m 2140kg m 2200kg m 2550kg m 2Mass75kg 670kg 550kg 1700kg 1700kg 1820kg 2300kg 2550kg Power Requirements *31.5kVA4.0kVA 4.0kVA9.5kVA9.5kVA 9.5kVA 9.5kVA 10kVA*1: F=Floor, W=Wall, C=Ceiling, S=Shelf (Note : S -axis motion is limited when mounted on the wall.)*2: Conforms to JIS B 8432.*3: Varies in accordance with applications and motion patterns.Picking / PackingPalletizingApplication Optimizing Robots MOTOMAN -MPK 2MOTOMAN -MPK 50MOTOMAN-MPL 80MOTOMAN -MPL 160MOTOMAN -MPL 300MOTOMAN -MPL 500MOTOMAN -MPL 800MOTOMAN-MPL 100ApplicationAssembly & Distributing Manipulator Model(MOTOMAN -)SIA 5D SIA 10D SIA 20DSIA 30D SIA 50DSDA 5D SDA 10D SDA 20DControllerDX 100 Models NX 100 ModelsXRC ModelsNXC 100 ModelsMounting *1F , W, C F, W, C F , W, C F F F , C F FDegrees of Freedom 77777151515Payload5kg 10kg 20kg 30kg 50kg 5kg/Arm 10kg/Arm 20kg/Arm Vertical Reach 1007 mm 1203 mm 1498 mm 2597 mm 2597 mm 1118 mm 1440 mm 1820 mm Horizontal Reach 559 mm 720 mm 910 mm 1485 mm 1630 mm 1604 mm 1970 mm 2590 mm Ripeatability*2±0.06 mm±0.1 mm±0.1 mm±0.1 mm±0.1 mm±0.06 mm ±0.1 mm ±0.1 mm Range of MotionRotation-170+170 -170+170 -180+180S -axis (Turning ) -180+180 -180+180-180+180 -180+180 -180+180 -90+270, -270+90 -180+180 -180+180L -axis (Lower Arm) -110+110 -110+110 -110+110 -125+125 -60+125 -110+110 -110+110 -110+110E -axis (Elbow ) -170+170 -170+170 -170+170 -170+170 -170+170 -170+170-170+170 -170+170U -axis (Upper Arm ) -90+115 -135+135 -130+130 -110+110 -35+215-90+115 -135+135 -130+130R -axis (Wrist Roll ) -180+180 -180+180 -180+180 -170+170 -170+170 -180+180 -180+180 -180+180B -axis (W rist Pitch/Yaw ) -110+110 -110+110 -110+110 -110+110 -125+125 -110+110 -110+110 -110+110T -axis (Wrist Twist) -180+180-180+180 -180+180 -180+180 -180+180-180+180 -180+180 -180+180Maximum SpeedRotation180/s 130/s 125/s S -axis (Turning )200/s 170/s130/s 130/s 170/s 200/s 170/s 130/s L -axis (Lower Arm )200/s170/s 130/s 130/s 130/s 200/s 170/s 130/s E -axis (Elbow )200/s170/s 170/s 130/s 130/s 200/s 170/s 170/s U -axis (Upper Arm )200/s 170/s 170/s 130/s 130/s 200/s 170/s 170/s R -axis (Wrist Roll )200/s 200/s 200/s 170/s 130/s 200/s 200/s 200/s B -axis (W rist Pitch/Yaw )230/s 200/s 200/s 170/s 130/s 230/s 200/s 200/s T -axis (Wrist Twist )350/s400/s 400/s 200/s 200/s 350/s 400/s 400/s AllowableMoment R -axis (Wrist Roll )14.7N m31.4N m 58.8N m 117.6N m 377N m 14.7N m 31.4N m 58.8N m B -axis (W rist Pitch/Yaw)14.7N m 31.4N m 58.8N m 117.6N m 377N m 14.7N m 31.4N m 58.8N m T -axis (Wrist Twist )7.35N m 19.6N m 29.4N m 58.8N m 147N m 7.35N m 19.6N m 29.4N m Allowable R -axis (Wrist Roll )0.45kg m 21.0kg m 24.0kg m 26.0kg m 229.6kg m 20.45kg m 21.0kg m 24.0kg m 2Inertia B -axis (W rist Pitch/Yaw)0.45kg m 21.0kg m 24.0kg m 26.0kg m 229.6kg m 20.45kg m 21.0kg m 24.0kg m 2(GD 2/4)T -axis (Wrist Twist )0.11kg m 20.4kg m 22.0kg m 23.0kg m 212.5kg m 20.11kg m 20.4kg m 22.0kg m 2Mass 30kg 60kg 120kg 345kg 640kg 110kg 220kg 380kg Power Requirements *31.0kVA1.5kVA2.2kVA 2.8kVA 5.0kVA1.4kVA2.7kVA4.4kVA*1: F=Floor, W=Wall, C=Ceiling, S=Shelf *2: Conforms to JIS B 8432.*3: Varies in accordance with applications and motion patterns.MOTOMAN-SIA 5DMOTOMAN-SIA 50DMOTOMAN-SDA 5DMOTOMAN-SDA 10DMOTOMAN-SDA 20DMOTOMAN-SIA 10DMOTOMAN-SIA 20DMOTOMAN-SIA 30DAssembly & DistributingApplication Optimizing RobotsApplicationPress Handling Manipulator Model (MOTOMAN -)EPH 130EPH 130REPH 130RLEPH 4000EP 4000NControllerDX 100 Models NX 100 ModelsXRC ModelsNXC 100 ModelsMounting *1F S S S SControlled Axis 66666Payload130kg 130kg 130kg 200kg 200kg Vertical Reach 3372 mm 3775 mm 4151 mm 2629 mm 2629 mm Horizontal Reach2651 mm3134 mm 3474 mm 3505 mm 3505 mm Repeatability *2±0.2 mm±0.2 mm ±0.3 mm ±0.5 mm ±0.5 mm Range of MotionS -axis (Turning ) -180+180 -180+180 -180+180 -150+150 -150+150L -axis (Lower Arm ) -60+76-130+70-130+70-122+25-122+25U -axis (Upper Arm ) -137.5+230-70+95-70+95-70+53-70+53R -axis (Wrist Roll ) -360+360 -360+360 -360+360 -360+360 -360+360B -axis (Wrist Pitch/Yaw) -130+130 -130+130 -130+130 -120+120 -120+120T -axis (Wrist Twist ) -360+360 -360+360 -360+360 -360+360-360+360Maximum SpeedS -axis (Turning )130/s 110/s 110/s 90/s 90/s L -axis (Lower Arm )130/s110/s 110/s 90/s 90/s U -axis (Upper Arm )130/s110/s 110/s 90/s 90/s R -axis (Wrist Roll )215/s 215/s 215/s 80/s 80/s B -axis (Wrist Pitch/Yaw )180/s180/s 180/s 80/s 80/s T -axis (Wrist Twist )300/s 300/s 300/s 160/s 160/s AllowableMomentR -axis (Wrist Roll )735N m735N m 735N m 1274N m 1274N m B -axis (Wrist Pitch/Yaw)735N m 735N m 735N m 2156N m 2156N m T -axis (Wrist Twist )421N m421N m 421N m 0N m 0N m Allowabl e R -axis (Wrist Roll )45kg m 245kg m 245-130kg m 2*484.5kg m 284.5kg m 2Inertia B -axis (Wrist Pitch/Yaw )45kg m 245kg m 245-130kg m 2*4330kg m 2330kg m 2(GD 2/4)T -axis (Wrist Twist )15kg m 215kg m 215-38kg m 2*480kg m 280kg m 2Mass 1495kg 1420kg 1445kg 3050kg 3100kg Power Requirements *310kVA 10kVA 10kVA 22kVA22kVA*1:F=Floor, W=Wall, C=Ceiling, S=Shelf (Note : S -axis motion is limited when mounted on the wall.)*2: Conforms to JIS B 84323.*3: Varies in accordance with applications and motion patterns.*4: Varies in accordance with load torque.Press HandlingApplication Optimizing Robots MOTOMAN-EPH 130MOTOMAN-EP 4000NMOTOMAN-EPH 130RMOTOMAN-EPH 130RLMOTOMAN-EPH 4000*1: F=Floor, W=Wall, C=Ceiling, S=Shelf (Note : S -axis motion is limited when mounted on the wall.)*2: Conforms to JIS B 8432.*3: Varies in accordance with applications and motion patterns.*4-130+90(S-axis -90+90)-130+30(S-axis +90+120)-130+30(S-axis -90-120)ApplicationPainting Manipulator Model (MOTOMAN -)EPX 1250EPX 2050PX 2750EPX 2700EPX 2800EPX 2800R EPX 2900ControllerDX 100 Models NX 100 ModelsXRC ModelsNXC 100 ModelsMounting *1F ,W,C F F W F S FControlled Axis 6666666Payload5kg 15kg 10kg 15kg 20kg 15kg 20kg Vertical Reach 1852 mm 2806 mm 3758 mm 5147 mm 4582 mm 4751 mm 4410 mm Horizontal Reach1256 mm 2054 mm 2729 mm 2700 mm 2778 mm 2825 mm 2900 mm Repeatability *2±0.15 mm±0.5 mm±0.5 mm±0.15 mm ±0.5 mm ±0.5 mm ±0.5 mm Range of MotionS -axis (Turning ) -170+170 -90+90 -150+150-125+25, -25+125 -150+150-120+120 -150+150L -axis (Lower Arm )-65+120 -50+100-40+90-65+140-45+120*4-50+110U -axis (Upper Arm )-165+205-163+5+10+168-65+90-85+90-70+90-70+90R -axis (Wrist Roll ) -190+190 -360+360 -260+260 -720+720-360+360 -360+360 -360+360B -axis (Wrist Pitch/Yaw) -145+145 -360+360 -270+270 -720+720-360+360 -360+360 -360+360T -axis (Wrist Twist ) -360+360 -360+360 -260+260 -720+720-360+360-360+360-360+360Maximum SpeedS -axis (Turning )185/s 2.0m/s 2.0m/s 2.0m/s 2.0m/s 2.0m/s155/s L -axis (Lower Arm )185/s 125/s U -axis (Upper Arm )185/s 155/s R -axis (Wrist Roll )360/s 450/s B -axis (Wrist Pitch/Yaw )410/s 550/s T -axis (Wrist Twist )500/s 650/s Allowable MomentR -axis (Wrist Roll )8.0N m 45.8N m 30.4N m 45.8N m 77.4N m 45.8N m 72.0N m B -axis (Wrist Pitch/Yaw)8.0N m 33.8N m 19.6N m 33.8N m 49.9N m 33.8N m 51.5N m T -axis (Wrist Twist )3.0N m 10.8N m 9.8N m 10.8N m 19.6N m 10.8N m 19.6N m Allowable R -axis (Wrist Roll )0.20kg m 21.45kg m 20.97kg m 21.45kg m 22.45kg m 21.45kg m 22.73kg m 2Inertia B -axis (Wrist Pitch/Yaw)0.20kg m 20.79kg m 20.40kg m 20.79kg m 21.20kg m 20.79kg m 21.63kg m 2(GD 2/4)T -axis (Wrist Twist )0.07kg m 20.10kg m 20.10kg m 20.10kg m 20.20kg m 20.10kg m 20.20kg m 2Mass110kg 540kg 560kg 590kg 650kg 820kg 1030kg Power Requirements*31.5kVA5.0kVA 5.0kVA 5.0kVA5.0kVA 5.0kVA5.0kVAType L Type RMOTOMAN -EPX 1250MOTOMAN -EPX 2800MOTOMAN -EPX 2800R MOTOMAN -EPX 2900MOTOMAN -EPX 2050MOTOMAN -PX 2750MOTOMAN -EPX 2700PaintingApplication Optimizing RobotsControllersController ModelDX 100DX 100(Assembly & Distributing )NX 100NXC 100Manipulator Model Small Model VA 1400, MA 1400, MA 1900MA 3100, MH 5, MH 5L, MH 6, MH 6S, HP 20D, HP 20D -6, MPK 2SIA 5D, SIA 10D, SIA 20DHP 3J, MH 5, MH 5LLarge Model MA 1800, VS 50, MS 80, MS 120, ES 165D, ES 165RD, ES 200D,ES 200RD, ES 280D *2, MH 50, MH 50-20, MH 80, MH 165, MH 200,MH 215*2,MH 250*2, UP 350D, UP 400RD, UP 350D -500, UP 350D -600, MPK 50*2, MPL 80*2, MPL 100*2, MPL 160*2, MPL 300*2, MPL 500*2, SIA 30D, SIA 50DSDA 5D, SDA 10D, SDA 20D EPH 130, EPH 130R,EPH 130RL, EPH 4000,EP 4000N Dimensions(W ×H ×D )Small Model425×1200×450 mm (Possible to control 3 external axes )500×580×580 mm (Possible to control 1 external axes )500×1200×500mm (Possible to control 2 external axes )485×183×300 mm (Possible to control 1 external axes )Large Model425×1200×450 mm (Possible to control 2 external axes )500×880×580 mm (Possible to control 1 external axes )600×1200×550 mm(Possible to control 2 external axes)Approximate Mass Small Model100kg 100kg 100kg 16kg Large Model 100kg *2150kg 150kg IEC Protection Class IP 54IP 54IP 51IP 20Dimensions (W ×H ×D )169×314.5×50 mm 169×314.5×50 mm 199×338×60 mm 199×338×60 mm Approximate Mass 0.990kg 0.990kg 1.320kg 1.320kg IEC Protection Class IP 65IP 65IP 65IP 65External Interface CF slot ×1USB Port (1.1)×1CF slot ×1USB Port (1.1)×1CF slot ×1CF slot ×1Number of Controlled Manipulators Up to 8 manipulators Up to 8 manipulators Up to 4 manipulators Up to 4 manipulators Number of Controlled Axes Up to 72 axes Up to 72 axes Up to 36 axes Up to 36 axesNumber ofJOBs Robot 16 JOBs 16 JOBs 8 JOBs 8 JOBs System 4 JOBs 4 JOBs 4 JOBs 4 JOBs Up to 32 groups Up to 32 groups Up to 16 groups Up to 16 groups Robot Up to 8 groups (R 1 to R 8)Up to 8 groups (R 1 to R 8)Up to 4 groups (R 1 to R 4)Up to 4 groups (R 1 to R 4)Base Up to 8 groups (B 1 to B 8)Up to 8 groups (B 1 to B 8)Up to 4 groups (B 1 to B 4)Up to 4 groups (B 1 to B 4)Station Up to 24 groups (S 1 to S 24)Up to 24 groups (S 1 to S 24)Up to 12 groups (S 1 to S 12)Up to 12 groups (S 1 to S 12)JOB CapacityJOB :200000 steps Robot command :10000 steps JOB :200000 steps Robot command :10000 steps JOB :60000 steps Robot command :10000 steps JOB :60000 stepsRobot command :10000 stepsCIO Ladder 20000 steps 20000 stepsStandard :10000 steps Extension :15000 steps Standard :10000 stepsExtension :15000 stepsI/OSystem Input :2048(max.)System Output :2048(max.)System Input :2048(max.)System Output :2048(max.)System Input :1024(max.)System Output :1024(max.)System Input :1024(max.)System Output :1024(max.)Number of JOB NamesUp to 32 digitsUp to 32 digitsUp to 8 digitsUp to 8 digits*1: These specifications and dimensions are for standard specifications and they are subject to change due to the optional installation.*2: When manipulator is ES 280D, MH 215, MH 250, MPK 50, MPL 80, MPL 100, MPL 160, MPL 300, and MPL 500, the regenerative resistor box (120 mm in depth, 50kg ) is mounted on the surface of the backside of the controller. Note : Contact YASKAWA regarding the dimension of the controller for MPL 800.Standard Specifi cations of Controller*1Small modelSmall model(for single -arm robots )Small modelLarge modelLarge model (for dual -arm robots)Large model DX 100NXC 100DX 100(Assembly & Distributing)NX 100Co n t r o l l e rs Pr o g r a m m i n g Pe n d a n t So f t w a r e Number of Controlled GroupsController Model NX 100(Painting )XRC (Painting )ManipulatorModel Standard Pendant EPX 2050, EPX 2700, EPX 2800, EPX 2800R, EPX 2900PX 2750Explosion-proof PendantEPX 2050, EPX 2700, EPX 2800, EPX 2800R, EPX 2900PX 2750Dimensions(W ×H ×D )Standard Pendant974×1200×600 mm(Possible to control 3 external axes )974×900×600 mm(Possible to control 3 external axes)Explosion-proof Pendant 974×1200×600 mm(Possible to control 3 external axes )974×1300×600 mm(Possible to control 3 external axes)Approximate Mass Standard Pendant 250kg 100kg Explosion -proof Pendant 250kg 200kg IEC Protection Class IP 41(Option : IP 54)IP 41Dimensions (W ×H ×D )Standard Pendant 199×338×60 mm 200×325×77 mm Explosion -proof Pendant 235×203×78 mm211×382×75 mmApproximate MassStandard Pendant1.32kg 1.2kgExplosion-proof Pendant 1.25kg 2.0kg IEC Protection Class IP 65IP 40External InterfaceCF slot ×1Standard RS 232C for Backup Explosion -proof N/ANumber of Controlled Manipulators Up to 4 robots Up to 3 robots Number of Controlled Axes Up to 36 axesUp to 27 axesNumber of JOBs Robot 8 JOBs 6 JOBsSystem4 JOBsUp to 16 groupsUp to 8 groupsRobot UP to 4 groups (R 1 to R 4)UP to 3 groups (R 1 to R 3)Base UP to 4 groups (B 1 to B 4)UP to 3 groups (B 1 to B 3)StationUP to 12 groups (S 1 to S 12)UP to 6 groups (S 1 to S6)JOB Capacity 60000 steps 10000 steps60000 steps 10000 steps CIO Ladder Standard :10000 steps Extension :15000 steps 1500 stepsI/OSystem Input :1024(max.)System Output :1024(max.)System Input :256(max.)System Output :256(max.)Number of JOB NamesUp to 8 digitsUp to 8 digits*: These specifications and dimensions are for standard specifications and they are subject to change due to the optional installation.Note : Contact YASKAWA regarding the dimension of the controller for EPX1250.Standard Specifi cations of Controller *Standard pendant model Standard pendant modelExplosion -proof pendant model Explosin -proof pendant modelNX 100(Painting )XRC (Painting )For PaintingCo n t r o l l e r s So f t w a r e Pr o g r a m m i n g Pe n d a n t Number of Controlled Groups。
目录1 机器人基本介绍 (5)1.1 机器人本体介绍 (5)1.2 制御盘DX200 (7)1.3示教编程器 (10)1.3.1 示教编程器 (10)1.4 P.P.按键说明 (11)1.5 P.P.画面表示 (17)1.5.1 通用显示区 (18)1.5.2 主菜单区 (27)1.5.3 状态区 (27)1.5.4 人机接口显示区 (34)1.5.5 菜单区 (34)2 机器人基本操作 (35)2.1 电源投入/切断 (35)2.1.1 注意事项 (35)2.1.2 电源投入 (36)2.1.3 电源切断 (39)2.2 关节坐标系手动操作 (42)2.3 直角坐标系手动操作 (45)2.4 圆柱坐标系手动操作 (47)2.5 工具坐标系手动操作 (49)2.5.1 工具的选择 (50)2.6 用户坐标系手动操作 (52)2.6.1 用户坐标的选择 (53)2.7 外部轴 (56)2.7.1 固定控制点操作 (56)2.7.2 更改控制点操作 (60)3 示教操作与再现 (62)3.1 JOB程序操作 (62)3.1.1 新建程序 (62)3.1.2 程序内容 (65)3.2 点位示教 (66)3.2.1 关节插补MOVJ (68)3.2.2 直线插补MOVL (69)3.2.3 圆弧插补MOVC (71)3.2.4 自由曲线插补MOVS (76)3.3 程序修改/插入/删除 (78)3.3.1 修改 (78)3.3.2 插入 (79)3.3.3 删除 (80)3.4 再现操作 (83)3.4.1. 步骤确认 (83)3.4.2 试运行 (84)3.4.3 再现模式 (85)4 机器人变量基本介绍 (88)4.1 DX200变量种类介绍 (88)4.2 变量登录设定 (89)4.2.1 数据型变量设定 (89)4.2.2 文字型变量设定 (91)5 程序命令编辑 (99)5.1 输出入(I/O)命令 (100)5.1.1 WAIT 输入 (101)5.1.2 DOUT 输出 (106)5.1.3 PULSE 脉冲输出 (108)5.1.4 DIN数据读取 (109)5.2 制御命令 (111)5.2.1 JUMP跳转 (111)5.2.2 CALL 呼叫副程序 (114)5.2.3 RET 返回 (116)5.2.4 TIMER 计时器 (119)5.2.5 PAUSE 停止 (120)5.2.6 LABEL旗标 (122)5.2.7 COMMENT 注解 (123)5.3 演算命令 (124)5.3.1 SET设定 (124)5.3.2 CLEAR 清除 (125)5.3.3 数式运算 (126)5.3.4 逻辑运算 (127)5.3.5 递增/递减 (129)5.4 平移命令 (131)5.4.1 SFTON/SFTOFF 平移 (131)1 机器人基本介绍1.1 机器人本体介绍安川YASKAWA MOTOMAN系列机器人，依照产业类别及机能特性不同，分别有多功能搬送用机器人、焊接用机器人、涂装用机器人、组立用机器人等多种不同类别，动作关节由4轴到15轴不等，本文介绍内容主要为垂直多关节机器人，各别机型请参照原厂所提供之说明书及操作文件为准。
在 20世纪九十年代,伴随着 IT、家电等行业的迅猛发展,洁净机器人面世了。
近几年,半导体、液晶显示器、等离子显示器、计算机硬盘的规格与产量不断提高, 导致生产过程中工件的体积和重量越来越大,生产节奏、生产工艺性的要求也越来越高。
短短十余年间,液晶显示器的产品已经发展到第 8代,玻璃基板尺寸增大了将近十倍, 这就对洁净机器人性能提出了更高的要求。
而且, 相比于传统用途的机器人, 如弧焊、点焊、喷涂等,洁净机器人需要更快速的响应来满足不断提升的性能要求。
作为世界上最先进的机器人厂家,安川公司对于这一机器人的新兴应用领域,很早就给予了关注。
从一开始, 在产品开发、系统整合及市场开拓等方面, 就投入了巨大的力量。
由于安川在机器人技术和产品开发的雄厚实力,在洁净机器人的产品及应用技术研究上迅速取得了进展。
目前, 安川的洁净机器人技术及市场竞争能力,在国际上处于遥遥领先的地位, 市场份额超过60%。
前不久在东京举行的国际机器人展览会上,推出了可适应当前最新型液晶生产的第八代产品需求的大型洁净机器人, 受到业内人士的瞩目。
MOTOMAN 洁净机器人,控制器采用 MOTOMAN 的 XRC 控制器,而机械结构则结合生产工艺的特点, 主要分为两大系列, 既CSL系列和CR系列。
CR 系列是垂直多关节机器人, 进行全姿态动作运动 ; CSL是水平直线及回转运动型机器人, 高速度高精度,动作快捷准确。
当前大量使用的洁净机器人,以水平动作的机器人居多,因为在工厂里,主工艺装置之间的玻璃基板传送,基本都是平面进行。
图 1￣图4是 MOTOMAN的几种主要形式洁净机器人的机型。
现以典型的液晶生产线为例,介绍 MOTOMAN 洁净机器人的使用情况。
如图所示,从玻璃原材料进入生产线到产品的出线,玻璃基板要通过一系列的工艺处理过程。
在生产线各工艺处理设备之间,玻璃基板的运送与上下料,都需要洁净机器人来完成。
玻璃基板由专用的装运箱送至生产线入口处,在那里设置了取出单元M O T O M A N洁净机器人及系统介绍首钢莫托曼专刊图1CSL1200图2CSL1200D 图3CSL10-30021机器人技术与应用22机器人技术与应用(UNPACKER 。
