Transcript Arc Welding Robot Package MOTOPAC

Arc Welding Robot Package
MOTOPAC-W Series
Certified for
ISO9001 and
ISO14001
QMS Accreditation
R009
JQA-0813 JQA-EM0924
THE PACKAGE SOLUTION
The Best Robotic System Ready to Run for Your Specific Application
The MOTOPAC-W series is an arc welding system in which the needed devices, such as a MOTOMAN welding robot,
welding power source, and torch, are integrated as a total package.
Select the package that best suits your application, and you can have a high-performance and high-productivity
robotic system that is ready to go.
High-quality
Arc Welding Package
with Digital Control
MOTOPAC-WL/-WH
Series
General-purpose
Arc Welding Package
with Digital Control
MOTOPAC-WR
Series
Options and Cable
Installation Service
Features
Easy to Set Up
Because the package components are carefully developed and selected for
the workpieces and welding method, the best robotic system for your
needs can be easily installed without any complications. And, Yaskawa will
assist you with our full range of services.
Ensured High-quality Welding
The combination of MOTOWELD welding power source with the latest
digital control and a MOTOMAN robot enables optimum welding control in a
wide variety of welding methods, offering extremely high-quality welding.
2
Arc welding robot cable installation work at the robot
plant of Yaskawa Electric
Package Lineup
High-quality Arc Welding Package with Digital Control
MOTOPAC-WL100
The MOTOWELD-EL350Ⅲ welding power source package offers a high-quality arc
welding power source with digital control that supports both short-circuit
welding and pulse welding. The secondary switching circuit installed in the
welding power source reduces spatter caused by short-circuiting and enables
high-quality welding.
Welding power source
MOTOWELD-EL350Ⅲ
Supported welding methods : CO2, MAG, MIG, MAG pulse, and MIG pulse
Supported welding materials : Iron, stainless steel, and aluminum＊
＊ : When welding aluminum, the torch & torch cable set and conduit cables for aluminum welding must
be used.
MOTOPAC-WH400
The MOTOWELD-RP500 welding power source package offers a high-quality arc
welding power source with digital control that supports both short-circuit
welding and pulse welding. The operation rate of 100% enables prolonged
continuous welding operation.＊1
Supported welding methods : CO2, MAG, MIG, MAG pulse, and MIG pulse
Supported welding materials : Iron, stainless steel, and aluminum＊2
Welding power source MOTOWELD-RP500
＊1 : A water-cooled torch is required for continuous welding operations with a high operation rate.
＊2 : When welding aluminum, the torch & torch cable set and conduit cables for aluminum welding
must be used.
General-purpose Arc Welding Package with Digital Control
MOTOPAC-WR100
The MOTOWELD-SR350 welding power source package delivers simplified and
intuitive operation by limiting its functions to those specialized for non-pulse
welding of iron.
Digital control using the inverter enables steady operation in welding.
Welding power source MOTOWELD-SR350
Supported welding methods : CO2 and MAG
Supported welding materials : Iron only
MOTOPAC-WR200
The MOTOWELD-SR500 welding power source package delivers simplified and
intuitive operation by limiting its functions to those specialized for non-pulse
welding of iron.
Digital control using the inverter enables steady operation in welding. Use this
package when the required current and operation rate cannot be obtained with
a 350A welding power source.
Welding power source MOTOWELD-SR500
Supported welding methods : CO2 and MAG
Supported welding materials : Iron only
3
Product Code for
Welding Package
Arc Welding Package Product Code
MOTOPAC-W □□ □ □
D S 6
Wire feeder type
Cannot be changed
Product destination
A : Japan and other Asian countries
(Input voltage 200/400 V)
C : China (Compliant with CCC standards)
With the shock sensor
Cannot be changed
Manipulator type
D:
E :
F :
G:
H:
MOTOMAN-VA1400
MOTOMAN-MA1400
MOTOMAN-MH6
MOTOMAN-MA1900
MOTOMAN-HP20D
Robot controller
Cannot be changed
Package model
L1 :
H4 :
R1 :
R2 :
MOTOPAC-WL100
MOTOPAC-WH400
MOTOPAC-WR100
MOTOPAC-WR200
(with EL350Ⅲ)
(with RP500)
(with SR350)
(with SR500)
Reductive Devices
To help reduce costs and to meet individual needs with different product specifications, some devices in the
welding package can be omitted. When placing order, specify Yes / No in the following NEEDED columns.
No.
1
Reductive Devices
Connection cable between manipulator and welding power source
(No.6 to 9 in the table on page 5)
4
2
Torch & torch cable set and shock sensor (No.1 and 2 in the table on page 5)
3
Conduit cable (No.11 in the table on page 5)
4
Welding I/F cable (No.10 in the table on page 5)
5
Cable installation parts for arm (No.4 in the table on page 5)
6
Labor for cable installation
NEEDED*
Yes: Needed
*No
: Not needed
Package Components
MOTOMAN-VA1400
Devices in the Arc Welding Package
Default specifications (when not specified by the customer)
No. Device
③
④
②
①
MOTOMAN-MA1400
Varies according to manipulator and package model ＊1
② Torch clamp with shock sensor
Varies depending on manipulator model ＊1
③ Wire feeder
YWE-X40TELC (Wire diameter:1.0 and 1.2 mm)
④ Cable installation parts for arm
Varies according to manipulator and package model ＊2
⑤ Welding power source
Varies depending on package model ＊3
⑥ Positive (+) power cable
WCT60SQ × 5 m (Made by Mitsuboshi Co., Ltd.)
⑦ Negative ( - ) power cable
WCT60SQ × 5 m (Made by Mitsuboshi Co., Ltd.)
⑧ Cable for wire feeder control
5 m (Between manipulator and welding power source)
⑨ Negative ( - ) cable for voltage detection 5 m (Between manipulator and jig) Not required for some robot models ＊4
③
②
① Torch & torch cable set
④
①
⑩ Welding I/F cable
4 m (Between robot controller and welding power source)
⑪ Conduit cable
N35 × 3 m (Made by Tokin Corp.)
⑫ Gas hose
SLD hose (Nominal dia. 6) × 10 m (Made by Bridgestone Corp.)
Labor for cable installation
At the robot plant of Yaskawa Electric Corp.
＊1 : Specifications for torch and torch clamp with shock sensor
MOTOMAN-MH6
③
④
①
②
For MOTOMAN-VA1400 / MA1400 / MA1900
Torch : Air-cooled torch YMENS-300R made by Tokin Corp. for a 350 A welding power source,
Air-cooled torch YMENS-500R made by Tokin Corp. for a 500 A welding power source
Torch clamp with shock sensor: DX-0410260 made by Tokin Corp.
For MOTOMAN-MH6 / HP20D
Torch : TK-308RR made by Tokin Corp. for a 350 A welding power source,
TK-508RR made by Tokin Corp. for a 500 A welding power source
Torch clamp with shock sensor : HS9371266 made by Yaskawa Electric Corp.
＊2 : Cable installation parts for arm
When using MOTOMAN-VA1400 / MA1400 / MH6 with a 350 A welding power source, cables are installed
in the S axis (turning axis). Otherwise, power cables should be secured around the S axis by using
spring supports.
＊3 : Welding power source
Specifications vary depending on the arc welding package model.
＊4 : Negative (-) cable for voltage detection
When using the MOTOWELD-SR350 / SR500 with a 10 m or shorter power cable, a negative (-) cable for
voltage detection is not required.
Parts that do not depend on the manipulator model :
Shield gas
MOTOMAN-MA1900
③
②
⑪
④
①
⑫
Welding wire
MOTOMAN-HP20D
③
④
①
⑤
⑧
⑩
⑥
②
Robot controller
⑦
⑨
5
Optional Devices
Standard
Options
Cable for Wire Feeder Control
Customize your package to meet the needs
of your installation environment
This signal cable connects a manipulator with a welding power source and
controls the wire feeder (See No.8 in the table on page 5). Different lengths of
the cable can be ordered as needed, depending on the installation layout of the
devices. When ordering this cable for wire feeder control, select “1” in the
binary code for itemized purchases to indicate that the connection cable
between the manipulator and the welding power source has not been selected.
Welding power cables (both positive and negative) and one negative (-) cable for
voltage detection are also required.
MOTOPAC-WOP-FC□□-△△
□□ : Cable type 01= Without an encoder signal conversion unit, 02=With an encoder signal conversion unit ＊
△△ : Cable length Specify the length in increments of 5 m.
＊ : Cable 02 is recommended when a cable of 10 m-15 m is needed.
When a cable length of 15 m or more is needed, cable 02 must be used.
Power Cable
This cable can be used as a positive (+) power cable as well as a negative (-)
power cable (See No.6 and No.7 in the table). A positive cable is used to
connect a manipulator with a welding power source and a negative cable is
used to connect a welding power source with a welding jig. Different lengths of
cable can be ordered as needed, depending on the installation layout of the
devices. When ordering this power cable, select “1” in the binary code for
itemized purchases to indicate that the connection cable between manipulator
and welding power source has not been selected. One cable for wire feeder
control and one negative (-) cable for voltage detection are also required.
Note : When ordering power cables,
“one set” means one cable.
□□ : Cable size 60 = 60 sq mm, 80=80sq mm, 100=100 sq mm
△△ : Cable length Specify the length in increments of 5 m. 20 m max.
○ : Cable type 0= WCT made by Mitsuboshi Co., Ltd.＊, 1=E-WRCT made by Mitsuboshi Co., Ltd.
＊ : Omitted when “0”.
MOTOPAC-WOP-WPC□□-△△（-○）
Negative (-) Cable for Voltage
Detection
This cable connects a manipulator with a welding jig and detects welding
voltage (See No.9 in the table). Different lengths of cable can be ordered as
needed, depending on the installation layout of the devices. When ordering this
cable, select “1” in the binary code for itemized purchases to indicate that the
connection cable between manipulator and the welding power source has not
been selected. Power cables (both positive and negative) and one cable for wire
feeder control are also required.
MOTOPAC-WOP-VDC□□-△△
□□ : Welding power source model 01=EL350Ⅲ, 02=SR350, SR500 or RP500
△△ : Cable length Specify the length in increments of 5 m. 20 m max.
Welding I/F Cable
This cable for control signal connects a robot controller and a welding power
source and controls the welding power source (See No.10 in the table).
Different lengths of cable can be ordered as needed, depending on the
installation layout of the devices. When ordering this welding I/F cable, select
“1” in the binary code for itemized purchases to indicate that the welding I/F
cable has not been selected.
MOTOPAC-WOP-WC□□（-△△）
□□ : Welding power source model 03=EL350Ⅲ, SR350 or SR500, 10=RP500
△△ : Cable length Specify the length in increments of 5 m. 20 m max.
6
When not specified, the cable length will be 4 m (standard).
Optional Devices
Conduit Cable
Ｎ35 / 55
This cable connects a manipulator with a spool container for welding wire (See
No.11 in the table). Different lengths of cable can be ordered as needed,
depending on the installation layout of the devices. When ordering this conduit
cable, select “1” in the binary code for itemized purchases to indicate that the
conduit cable has not been selected.
Simplified type
MOTOPAC-WOP-CC□□-△△
□□ : Cable type 01=N35, 02=N55, 03=Simplified type [All made by Tokin Corp.]
△△ : Cable length Specify the length in increments of 1 m. 20 m max. For N35, 15 m max.
Roller for Wire Feeder
This is a set of optional rollers for the wire feeder. They are each for different
sizes of wire. Be sure to order the correct size rollers for your wires. (A set of
rollers for diameter 1.0 and 1.2 mm wires is installed in the wire feeders when
shipped.)
Note : Available in a set of two rollers
(one set/wire feeder).
□□ : Roller type 01= diameter 1.0/1.2 mm, 02= diameter 0.8/1.0 mm, 03= diameter 0.9/1.2 mm,
04= diameter 1.2/1.4 mm ［Distributed by Tokin Corp.］
MOTOPAC-WOP-WFR□□
Gas Regulator
This gas regulator controls the pressure of shield gas contained in the gas
cylinder that can be used for both CO2 and MAG welding. When using it for
CO2, an antifreeze heater can be used by connecting the heater to a 100 VAC
power source.
MOTOPAC-WOP-GR01
Welding Start-point Detection
Function
[FCR-2025 made by Yutaka Engineering Corp.]
By applying high voltage to the tip of the welding wire, the start point for
welding can be detected. The function can be used to correct a welding start
point when the start point varies due to a variance in a workpiece size or
position.
MOTOPAC-WOP-TOUCH□（-△△-○）
□ : Welding power source type 4=EL350Ⅲ or RP500, 5=SR350 or SR500
△△ : Length of cable connecting robot controller with welding power source Specify the length in increments
of 5 m. 20 m max. When not specified, the cable length will be 4 m (standard).
○ : Robot controller group axis configuration
A=Robot only (can be omitted), B=Robot + Traverse axis, C=Robot + Positioner,
D=Robot + Two positioners, F=Robot + Traverse axis + Positioner,
G=Robot + Traverse axis + Two positioners, H=Two robots that work in coordination
Air Bulb Unit
This bulb unit is for optional devices that supply air to a welding torch, such as a
wire clamp and an air blow unit. A terminal block must be installed in the robot
controller to wire this air bulb unit. An air regulator and materials for piping to
the robot must be prepared and installed by the customer.
MOTOPAC-WOP-ABU-□-△
□ : Bulb type C= for wire clamp, B=for air blowing
△ : Manipulator type D=MOTOMAN-VA1400, E=MOTOMAN--MA1400,
F=MOTOMAN-MH6, G=MOTOMAN-MA1900, H=MOTOMAN-HP20D
7
Wire Clamp Unit
The wire clamp unit is used to reduce excess play in the wire in the torch cable
section when the welding start-point detection function is applied. An air bulb
unit is required when using a wire clamp unit. The wire clamp unit is dedicated
to air-cooled torches for robots in the MOTOMAN-MH and HP series. For
water-cooled torches and robots in the MOTOMAN-VA and MA series, use a
torch with a built-in wire clamp unit.
MOTOPAC-WOP-WCL
Optional Torch
YMENS-300R
YMENS-308R
[Wire clamp unit made by Tokin Corp.]
We offer a variety of torches to choose from for your arc welding package. When
ordering one of these optional torches, select “1” in the binary code for itemized
purchases to indicate that the torch & torch cable set and shock sensor have not
been selected.
YMENS-500R
YMENS-500W(Water-cooled)
TK308RR
YMENS-500W wire clamp
(water-cooled)
TK508RR
YMENS−508R
YMENS-500R wire clamp
WX451R (Water-cooled)
WX451R wire clamp
(water-cooled)
MOTOPAC-WOP-TCH-□□-△
Note : All models are equipped with a torch clamp with
a shock sensor.
□□ : Torch type 01=YMENS-300R, 11=YMENS-500R, 02=YMENS-308R, 12=YMENS-508R,
31=YMENS-500R with a wire clamp, 41=YMES-500W (water-cooled),
61=YMES-500W with a wire clamp (water-cooled), 72=TK-308RR, 82=TK-508RR,
92=WX451R (water-cooled), A2=WX451R with a wire clamp (water-cooled)
[The YME(N)S models are for only MOTOMAN-VA / MA series of robots. All torches are made by Tokin Corp.]
△ : Manipulator type D=MOTOMAN-VA1400, E=MOTOMAN-MA1400, F=MOTOMAN-MH6,
G=MOTOMAN-MA1900, H=MOTOMAN-HP20D
Water Circulator
This is a water circulation device for water-cooled torches. A single-phase 200
VAC must be used for this device.
MOTOPAC-WOP-WPT-□□
[WR-100 made by Tokin Corp.]
□□ : Water hose length Specify the length in increments of 5 m. 20 m max.
Wire Cutter
This device cuts the tip of the welding wire automatically when required,
including when the welding start-point detection function is applied. To use
the wire cutter, a terminal block must be installed in the robot controller.
Materials for piping to the air regulator and wire cutter must be prepared and
installed by the customer.
MOTOPAC-WOP-WCT-□□
[TKC-A2 made by Tokin Corp.]
□□ : Cable length between robot controller and wire cutter Specify the length in increments of 5 m. 20 m max.
8
High-grade
Options
The Pursuit of High Quality
and Constant Improvement
High-performance
Conduit Cable
Optional Devices
This conduit cable has built-in roller bearings that have extremely low frictional
resistance (See No.11 in the table). The roller bearings help to reduce load
during wire feeding. Different lengths of cable can be ordered as needed,
depending on the installation layout of the devices. When ordering this
high-performance conduit cable, select “1” in the binary code for itemized
purchases to indicate the conduit cable has not been selected.
Connected roller bearing shells
enable smooth wire feeding,
even when the wire is bent.
MOTOPAC-WOP-CC05-□□
[Micro Glide made by Tokin Corp.]
□□ : Length Specify the length in increments of 1 m.
This coaxial cable combines positive and negative welding power cables (See
No.6 and 7 in the table). The coaxial structure maximizes the performance of
the welding power source by reducing the deterioration of waveforms when the
welding power source is installed away from the welding robot. Different lengths
of cable can be ordered as needed, depending on the installation layout of the
devices. When ordering this cable, select “1” in the binary code for itemized
purchases to indicate that the connection cable between the manipulator and
the welding power source has not been selected. The cable for wire feeder
control, a negative (-) cable for voltage detection, and a negative (-) power cable
are also required.
Welding current ( A )
High-performance
Power Cable
Coaxial structure of (+) and (-) power cables
500.0
Coaxial cable
400.0
300.0
200.0
Conventional cable
100.0
0.0
1,806
1,810
1,815
1,820
1,825
1,830 1,833
Time (sec)
Comparison of waveform deterioration in 100 m cable
[Coaxial cable with an inner conductor of
80SQ × 2 made by Tokin Corp.]
□□ : Length Specify the length in increments of 1 m.
MOTOPAC-WOP-WPCD8-□□
High-quality torch clamps with a shock sensor
made by the manufacturers of welding torches.
Each shock sensor works ideally with the specified
torch. These durable shock sensors are perfect for
use in a demanding environment. When ordering
this high-grade shock sensor, select “1” in the
binary code for itemized purchases to indicate that
the torch & torch cable set and shock sensor have
not been selected.
High-grade Shock Sensor
Type T1
Type T2
Type B1
Type B2
Note : These high-grade sensors are
sold with a torch as a set.
□□ : Shock sensor type T1=Tokin shock torch for MOTOMAN-MH / HP robots + TK308RR,
T2=Tokin shock sensor for MOTOMAN-VA / MA robots + 308R,
B1=BINZEL CAT2 for MOTOMAN-MH / HP robots + 350GC,
B2=BINZEL iCAT for MOTOMAN-VA / MA robots + 350GC
△ : Manipulator type D=MOTOMAN-VA1400, E=MOTOMAN-MA1400, F=MOTOMAN-MH6,
G=MOTOMAN-MA1900, H=MOTOMAN-HP20D
MOTOPAC-WOP-TCP-□□-△△（-○）
The standard options and high-grade options made by Tokin Corp. or Alexander Binzel Schweisstechnik GmbH &
s sales representatives, provided that no labor for cable installation
Co. KG can also be ordered from each company’
is required before robot delivery and that the optional product is for modification of a robot currently being used.
9
MOTOPAC-W Series
Sales Department
HEAD OFFICE
2-1 Kurosaki-Shiroishi, Yahatanishi-ku, Kitakyushu, Fukuoka 806-0004, Japan
Phone: +81-93-645-7703 Fax: +81-93-645-7802
YASKAWA America, Inc. (Motoman Robotics Division)
100 Automation Way, Miamisburg, OH 45342, U.S.A.
Phone: +1-937-847-6200 Fax: +1-937-847-6277
YASKAWA Europe GmbH (Robotics Division)
Yaskawastrasse 1, 85391, Allershausen, Germany
Phone: +49-8166-90-100 Fax: +49-8166-90-103
YASKAWA Nordic AB
Bredbandet 1vån. 3 varvsholmen 392 30 Kalmar, Sweden
Phone: +46-480-417-800 Fax: +46-480-417-999
YASKAWA Electric (China) Co., Ltd.
22F, One Corporate Avenue, No.222 Hubin Road, Huangpu District, Shanghai 200021, China
Phone: +86-21-5385-2200 Fax: +86-21-5385-3299
YASKAWA SHOUGANG ROBOT CO., LTD.
No.7 Yongchang North Road, Beijing E&T Development Area China 100176
Phone: +86-10-6788-2858 Fax: +86-10-6788-2878
YASKAWA India Private Ltd. (Robotics Division)
#426, Udyog Vihar Phase-IV, Gurgaon, Haryana, India
Phone: +91-124-475-8500 Fax: +91-124-475-8542
YASKAWA Electric Korea Co., Ltd
9F, Kyobo Securities Bldg., 26-4, Yeouido-dong, Yeongdeungpo-gu, Seoul 150-737, Korea
Phone: +82-2-784-7844 Fax: +82-2-784-8495
YASKAWA Electric Taiwan Corporation
12F, No.207, Sec. 3, Beishin Rd., Shindian District, New Taipei City 23143, Taiwan
Phone: +886-2-8913-1333 Fax: +886-2-8913-1513
YASKAWA Electric (Singapore) PTE Ltd
151 Lorong Chuan, #04-02A New Tech Park, Singapore 556741
Phone: +65-6282-3003 Fax: +65-6289-3003
YASKAWA Electric (Thailand) Co., Ltd.
252/125-126 27th Floor, Tower B Muang Thai-Phatra Complex Building,
Rachadaphisek Road, Huaykwang, Bangkok 10320, Thailand
Phone: +66-2693-2200 Fax: +66-2693-4200
PT. YASKAWA Electric Indonesia
Secure Building-Gedung B Lantai Dasar & Lantai 1 Jl. Raya Protokol Halim Perdanakusuma,
Jakarta 13610, Indonesia
Phone: +62-21-2982-6470 Fax: +62-21-2982-6471
YASKAWA ELECTRIC CORPORATION
In the event that the end user of this product is to be the military and said product is to be
employed in any weapons systems or the manufacture thereof, the export will fall under the
relevant regulations as stipulated in the Foreign Exchange and Foreign Trade Regulations.
Therefore, be sure to follow all procedures and submit all relevant documentation according
to any and all rules, regulations and laws that may apply.
Specifications are subject to change without notice
for ongoing product modifications and improvements.
© 1997-2014 YASKAWA ELECTRIC CORPORATION. All rights reserved.
LITERATURE NO. CHE-C945-510M
Published in Japan October 2014 97-10
14-7-37
16