part positioning solutions

DEsignMotoman offers the widest selection of positioners, designed to meet a broad range of industrial positioning needs. Determining which positioner is best for a particular application requires more than just sizing a motor to a gearbox. Other factors include:n Ensuring that inertia characteristics match between the motor, input drive and output driven Motor torque curve and acceleration/deceleration ratesn Reducer backlashn Bearing loading

Motoman has developed MotoSize software that factors in more than 30 variables relating to performance requirements. MotoSize is used to determine the best positioner for a specific application.

HistorYMotoman has extensive worldwide experience integrating servo-controlled positioners and tracks into a broad range of robotic solutions. For more than 20 years, Motoman positioners and transporters have provided unmatched speed, accuracy, robustness and reliability. They use the same field-proven motor controls as Motoman robots and are manufactured to the same exacting standards. Motoman also leads in control technology with multi-tasking software that allows coordination between multiple robots, base axes and multi-axis positioners.

approaCHEngineering started by creating modules for Motoman Headstock (MH) drives. These compact housings have multiple mounting points so they can be used as headstocks, tables or at angles in between. Features like weld grounds and safety-rated position switches are integrated into the housings.

Motoman has extended this product line every year with new drive modules and positioner configurations that use these modules.

rEsultMotoman has the most extensive line of positioner products of any robotics company, with positioners for a wide range of markets, including:n Automotive – high-speed positioners that index medium payloads in 2-3 secondsn Construction machinery – heavy-duty positioners that handle heavy parts or require

the robot to be positionedn Job shops – economical positioner solutions that index in 4-6 seconds

Motoman easily adapts to unique requirements by combining modules into custom-tailored solutions or using standard products from our parent company, Yaskawa Electric Corporation, and our European partners.

turntaBlEs n FErris-WHEEl positionErs n

Big 5 Auto 1st Tier 2nd Tier Agricultural Equipment Light/Heavy Construction Heavy Transportation General Fabrication Job Shop

Body

FrameChassis

ExhaustInterior

SuspensionImplements

ManliftsBulldozers

Rail

TruckTrailers

ATV

StoreFixtures Food

Equipment

ElectricalEnclosures Manufacturing

ProductsBackhoesSkid Steers

MRM2-250/750/1200 MSR-500 VMF Tilt-Rotate MDKLight-tight enclosures Slip rings 1.5 sec index

MHT-3100 MDC-2300 MotoSweep O GantriesHeavy payloads

MR-300 MHT-500 MRM2-M1X MDGT-1.2m4-6 sec index

Floor Tracks MotoRail Transporter MT1 Skyhook MHT-1600MRM2-M3X MSR2S-500 MHT-500 MotoPos3-5 sec index

MHT-180 MSR-200 MRM2-2504-6 sec index

HEaDstoCKs n Multi-aXis n transportErs roBust, FiElD-proVEn, liFE tEstEDEvery Motoman positioner product is developed following ISO 9001 procedures, so products adhere to a strict international standard of quality. Released products are dedicated to a unique Life Test area, where continuous life cycle testing of half a million dollars worth of equipment is performed 24/7/365. This ongoing effort represents more than 80 years of testing time, and is designed to identify potential problems before they occur in the field. Even details like weld grounds were engineered and life-tested for reliability, especially for the demands of multiple robots. Many Motoman positioners sold more than 20 years ago are still in production and some have even been redeployed with new robots.

spin-oFF tECHnologYAs a spin-off to our positioner technology, Motoman developed MotoMount™ – a patent-pending system used to mount fixturing between headstocks and tailstocks. This innovative design reduces the stresses in the bearings from moment loading; reduces cost by eliminating the need for machined bases, spanners and precision tailstocks; improves tooling repeatability; and facilitates easy and quick fixture changeover. Motoman also has patents pending on unique light-tight enclosures for laser processing.

CustoMEr supportCompetitors often reference only a payload capacity for their positioners. Motoman’s experience has proven that other considerations are also critical; therefore, all Motoman positioners have published specifications for payload, turning torque and repeatability.Motoman offers free MotoSize software to help integrators or end-users select a positioner by entering specific application requirements. The software outputs a graphical report that indicates exactly where the application falls in the performance range.Motoman recognizes that system uptime is dependent upon the positioner as well as the robot. Motoman uses the same motors to drive the robots and positioners, so spares are always available. Additionally, Motoman tries to use reducers common to the robots; otherwise, long lead-time items are kept in stock.

NOT SURE WHICH POSITIONER IS RIGHT FOR YOUR PROJECT?

MotosiZE™While many companies only provide payload information about their positioners, Motoman provides additional critical parameters, including cycle dwell time, load inertia, load CG overhang, torque, acceleration and moment.

Motoman’s published payload ratings are conservative and it is often possible to exceed these ratings. Depending on the application, either the bearings, gear reducer or motor might be limiting factors. More than 30 variables are factored in when calculating whether a particular positioner is appropriate for a specific application.

MotoSize software allows users to enter their unique application and tooling parameters and then automatically generates a report that graphically displays a list of available Motoman positioners that conform to all application criteria. Application data can be graphed by holding torque (load CG off-center), by rated bearing moment (load CG overhang) and by allowable load inertia.

Big 5 Auto 1st Tier 2nd Tier Agricultural Equipment Light/Heavy Construction Heavy Transportation General Fabrication Job Shop

Body

FrameChassis

ExhaustInterior

SuspensionImplements

ManliftsBulldozers

Rail

TruckTrailers

ATV

StoreFixtures Food

Equipment

ElectricalEnclosures Manufacturing

ProductsBackhoesSkid Steers

MRM2-250/750/1200 MSR-500 VMF Tilt-Rotate MDKLight-tight enclosures Slip rings 1.5 sec index

MHT-3100 MDC-2300 MotoSweep O GantriesHeavy payloads

MR-300 MHT-500 MRM2-M1X MDGT-1.2m4-6 sec index

Floor Tracks MotoRail Transporter MT1 Skyhook MHT-1600MRM2-M3X MSR2S-500 MHT-500 MotoPos3-5 sec index

MHT-180 MSR-200 MRM2-2504-6 sec index

turntaBlEs

Payload capacity (per side) 300 kg 200 kg 500 kg 1,000 kgDesign 2-position 2-position servo-driven* 2-position servo-driven* 2-position servo-driven*Thru-hole 120 mm none 100 mm 100 mm

Drive AC motor driven

Indexing Indexing Indexing motor control motor control motor controlindex 4-sec 4-sec 2-sec 5-secTable Diameter 1,524 mm 1,524 mm 1,524 mm 1,524 mm AW1000 AWIII-1000 AWIII-1000

arcWorld use AWII-100HD AWII-100

AWV-1000HD AWV-1000HD AWV-1000

* Servo-driven models have option of multiple index positions or continuous rotation

MR-300 MSR-500 MSR-1000MSR-200

n For small- to medium-size partsn Operator safely loads/unloads part(s) on one side of the positioner (outside the robot’s work envelope),

while the robot welds part(s) on the other siden Metal arc screen divider creates barrier; safeguards operator from arc flashn Run same part(s) on both sides of positioner or run one part on Side A and different part on Side Bn H-frame table top; low-inertia and quick-change toolingn Options: tooling plates, 72" table top and slip rings for utilities

�

2977 MSR2S-750 1977 MSR2S-500

Ø 4711 Sweep Dia MSR2S-750 Ø 3711 Sweep Dia MSR2S-500

978827

“A” Side“B” Side

Operator Side

Robot SideØ 1300

Tooling Dia

18332364

rotating turntaBlEsn Medium- to high-volume productionn Provides large turning diameter for shorter partsn Three servo-motor control

– All axes can turn simultaneously while indexing – Operator can jog station axis while robot welds

n Rotory axis motion can be coordinated with one or two robotsn Load position can be programmed in 30-degree incrementsn Ergonomic loading and programming heightsn MotoMount fixture mounting system

350

500

650

1000

Tooling Plates Options

Ø 1524 Standard Ø 1220 Optional Ø 1829 Optional

Payload 500 kg per side 750 kg per side 180° Sweep Time 3.7 sec. 5 sec.Turn Speed 0-19.6 rpm 0-20.7 rpmMax Part Size 2,000 mm L x 1,300 mm dia. 3,000 mm L x 1,300 mm dia.Sweep Dia. 3,711 mm 4,711 mmRepeatability ±0.1 mm ±0.1 mmWelding Ground 800 Amps 800 AmpsTailstock Thru-hole 41 mm 41 mmarcWorld use AWIV-4000 –

MSR2S-500 MSR2S-750

Dual HEaDstoCK/tailstoCK trunnion positionErs

Ø 1,170 max. (1,350)tooling envelope

Robot side

Operator side

1,473 (1,815)975 (1,050)

2,600 (-1)3,000 (-2)

4,234 (-1)4,633 (-2)(4,845)(MRM2-500STX)

n Medium- to high-volume, medium- to high-product mix productionn Operator safely loads/unloads parts from outside robot's work envelopen Space-saving design for parts three meters or longer (five-meter spans on most models)n Servo control with absolute encoder feedback provides infinite part positioning location and

coordinated motion during welding; part joints are kept in gravity-neutral welding planen Coordinated motion software is standard with postionern Metal arc screen divider creates barrier; safeguards operator from arc flashn Two different design configurations:

– Patented single-motor drive Economical design requires fewer parts and uses single motor to operate all three axes; operator load station locks into position – Three-motor drive with patented “X-beam” Each axis is driven independently; cycle time can be reduced by positioning part while sweeping; and operator station can be repositioned while robot is welding

n Tailstock options: slip rings for fixture signals and high-volume (3/4 in.) air lines

MRM2-600M3RH/lH - Headstock only

Rated Payload (per side) 250 kg 500 kg 300 kg 600 kg 900 kg 250 kg 750 kg 1,200 kg 600 kg @ 232 mm overhangFixture Mounting Faceplate Faceplate MotoMount MotoMount MotoMount MotoMount MotoMount MotoMount Faceplate

Design Patented single- Patented single- Patented single- Patented single- Patented single- 3-motor 3-motor 3-motor 3-motor motor drive motor drive motor drive motor drive motor drive servo drives servo drives servo drives servo drivesload Height 975 mm 1,050 mm 1,012 mm 1,012 mm 1,012 mm 900 mm 900 mm 910 mm 910 mmProgramming Height aW 1,171 mm -- -- -- -- -- -- -- -- aWii 1,473 mm 1,815 mm -- -- -- -- -- -- -- aWiii -- -- 1,600 mm 1,600 mm 1,600 mm -- -- -- -- aWiV -- -- -- -- -- 1,270 mm 1,270 mm 1,436 mm -- aWV -- -- -- -- -- -- -- 1,436 mm 1,436 mmindex Time* 4 sec 7 sec 4.8 sec 6.7 sec 10.2 sec 1.5 sec 2.25 sec 2.95 sec 2.95 sec Std. Fixture Diameter 1,170 mm 1,350 mm 1,300 mm 1,300 mm 1,300 mm 1,300 mm** 1,300 mm** 1,300 mm** † 1,300 mm**Std. Fixture length 2,600 mm 3,000 mm 3,000 mm 3,000 mm 3,000 mm 2,920 mm 2,920 mm 2,920 mm 1,000 mmTailstock Hole none none 45 mm 45 mm 45 mm 45 mm 45 mm 45 mm n/aair to Headstock yes yes yes yes yes no no no no

* Index time for single-motor units includes 180° of tooling rotation ** Tooling envelope limited in depth during sweep motion † Larger turning diameters available

MRM2-250M3XMRM2-250STN MRM2-300M1X MRM2-600M1XMRM2-500STN MRM2-750M3X MRM2-1200M3X MRM2-600M3

MRM2-250/500STN

Ø 1,300 max. tooling envelope

1,3501,688 work

Ø 2,650 max. tooling sweep

2,920 ±7.5 pin to pin

4,745

MRM2-300/600/900M1X

� �

Ø 1,300 max. tooling envelope*

Ø 2,672 max. sweep

Operator sideRobot side

1,436910

450*

5,622

2,920

*Tooling envelope limited in depth during sweep for tooling going under

MRM2-1200M3X

Operator side

Robot side

4,630

2,920 ±7.5pin to pin

900450 1,470

Rotation

Ø 2,650 max. sweep

Ø 1,300 max. tooling envelope

MRM2-250/750M3X

SiNGle-MoToR MoDelS THRee-MoToR MoDelS

MRM2-900M1X

1,012load

n Available as individual headstocks or combined with MotoMountn Compact design allows MH units to be easily integrated into other

machines or multi-axis positionersn MH units can be mounted at an angle or as a rotary tablen Units have conservative torque rating and payload increases

with tailstock (Contact Motoman for specification details)n Multiple stations can be combined with a single robot controller or with a

multiple robot controllern Motion can be coordinated with the robot for welding contoured parts

HEaDstoCK/tailstoCK positionErs

Rated load (kgf) 90 180 500 1,600 1,200 3,100 300 600 900Rated MHT load @ CG off Center (kgf @ mm) 550 @ 30 550 @ 50 1,075 @ 80 3,000 @ 95 6,300 @ 30 6,300 @ 90 969 @ 50 1,717 @ 50 2,601 @ 50Headstock Speed (rpm) 24.7 12.4 9.8 10.8 20.2 6.7 33.3 18.8 12.4180° Sweep Time (sec) 1.72 2.92 3.56 3.28 1.98 4.95 1.40 2.1 2.92Rated CG off Center (mm) 152 152 152 152 152 152 152 152 152Rated CG overhang (mm) 500 200 100 0 600 70 2,750 1,375 925load @ 500 mm CG overhang (kgf) 75 75 175 500 1,400 1,400 1,578 1,578 1,578Rated inertia (kg*m2) 15 58 119 678 300 3,058 66 208 477Rated Holding Torque (Nm) 153 275 829 2,826 1,789 4,622 475 842 1,276Rated Weld Current (std/opt) 400/800 400/800 800/1,200 800/1,600 1,200 1,200 800/1,600 1,200/1,600 1,200/1,600allowable Thrust (kgf) 400 400 800 2,000 3,000 3,000 800 800 800Motor Power (kW) 0.6 0.6 1.3 3.7 4.4 4.4 1.3 1.3 1.3Faceplate Thru-hole (mm) none none none none 110 110 110 110 110Tailstock Thru-hole (mm) 38 38 41 45 45 45 n/a n/a n/aDrive assembly Weight (kgf/lbs) 54/118 54/118 100/220 390/860 918/2,022 918/2,022 293/645 293/645 293/645

MH-1200 MH-3100MH-90 MH-500 MH-1600MH-180

MotoSize software provides detailed analyses

MHTH-300 MHTH-600 MHTH-900

280

105245

MH-90/180MH-500

272

177318

MH-1600

479

286457

MH-1200/3100

729

731523

466

286 457

MHTH-300/600/900

Holding Torque; Load CG Offcenter

0

200

400

600

800

1000

1200

0 50 100 150 200 250 300CG Offset, r (mm)

Appl

icat

ion

Load

,W(k

gf)

Rated W (kgf)Max W (kgf)

CG Offset

Front View

r

MHT rating

MH rating

NEED TO INTEGRATE YOUR FIXTURE?

options

External Axis Kitsn Three axes can be mounted in

NX100 cabinetn Side-mount cabinet can house up to five axes

– 5-Amp unit can drive up to 3.4 kW – 25-Amp unit can drive up to 15.9 kW

n Kits are available with and without motorsn Motor sizes: 600 W, 1.3 kW, 3.0 kW,

3.7 kW, 4.4 kW and 5.5 kWn External axis kits for Sigma II and Sigma III

motors (90 volt vs. 24 volt brakes)

Slip Ring KitsnExtends cable lifen Fixture wires routed through continuously

rotating slip ring – 10 wire (4@6A, 6@2A) – 12 wire @10A + 10 mm air line – 3/4-in. high-volume air line – Hydraulic unions

n Kits for MRM2 and MHT positioners

Servo DisconnectHeavy-duty contactor is used to remove drive power from operator load stations, if required by risk assessment.

Door-Guard TableSafeguarded loading station barrier door separates operator from robot envelope. Light curtains can be located inside cell and interlocked with door to safeguard operator.n 1.2-m or 1.6-m widthn Electric operationn 2-sec up/down 3x per minuten Welding or non-welding applications

Drop-CEntEr anD tilt-rotatE positionErsMulti-axis positioners provide added application flexibility. Many provide two axes, allowing most welding to be done in the optimum position, thereby increasing travel speeds. Motoman software supports the coodination of both axes with robot motion.

Payload 250 kg 500 kg TilT RoTaTe TilT RoTaTeTorque 539 Nm 796 Nm 1,274 Nm 392 Nmoff Center 139 mm 100 mm 175 mm 100 mmSpeed 20 rpm 30 rpm 13.3 rpm 26.7 rpmMotor Power 1.5 kW 1.5 kW 2.2 kW 1.5 kW

D250 D500

(2405)

(5527)5527

2405

Capacity 2,300 kg offset 0 to 650 mm from faceplateMaximum Fixture Dia. 3,000 mmMain axis Speed 0-4.7 rpmTooling axis Speed 0-7.4 rpmRepeatability ±0.1 mmWelding Capacity 100% D.C. 1,600 AmpsTooling axis Faceplate Thru-hole 150 mmload Height 814 mm

MDC-2300

MDC – Drop-Center Positionern Suited to very heavy frame componentsn Framework supports counterweights for parts with off-center CGn Thru-hole in faceplate for utilities

MotoPos – Tilt-Rotate Positionern Suited to automotive assemblies such as seats or manifoldsn Very low-profile design provides ergonomic load heightsn Optional slip rings to deliver fixture utilities through the faceplate

883730365 365

500

380

150

135° 135°500 dia.

MH1600-500 TR – Tilt-Rotate Positionern Suited to construction equipment subassembliesn Offset design allows open access for part load/unloadn Standard MH modules can be reconfigured with different

mounting structure

Ø 600

716

770

411

1016

Ø 400

10001102

1068

Main Axis

Payload 500 kgoffset 100 mmTilt axis Speed 0-10.6 rpmTilt Torque 2,236 NmRotate axis Speed 0-9.8 rpmRotate Torque 671 NmThru-hole noneTilt Range ±135°Rotate Range ±360°

MH1600-500 TR

n Reduces cost by eliminating machined bases, spanners and precision tailstocks (units bolt to framework or floor)

n Eliminates need for precision HS/TS alignment (allows up to two degrees of misalignment)n Reduces tooling costs due to lower-precision mounting holes

(can weld tailstock shaft to the fixture)n Easy and quick fixture changeovern Scalable to different sizes: 500 kg and 3,100 kgn Improves tooling repeatiblity

GROUNDINGCABLE

HEADSTOCKFACEPLATE

MOTOMOUNT FIXTURE ASSEMBLY TAILSTOCK PILLOW BLOCK AND TOOLING ASSEMBLY

TOOLINGADAPTER

PILLOWBLOCKBEARING

THRU-HOLEFOR UTILITIES

PATENT PENDING

MotoMount™ – FiXturE Mounting sYstEM

Positioner Configurations

Drive Assembly Drive Assembly with MotoMount

815

Headstock Assembly

815

Positioner Assembly (headstock and tailstock)

F

LM

M=Fl/8 l=3 MeTeR PaRT SPaN, M=0.38F

Traditional Mounting System vs. MotoMount

n Fixed mount increases stress on headstock/tailstockn Alignment is critical with fixed mountn Expensive machined base is necessary for HS/TS alignment

F

M

L

M=Fl/2 l=0.2 MeTeR oFFSeT, M=0.1F

MotoMount Solution

n Reduces stress close to 7x or more as span goes beyond three metersn Increase positioner life due to less stress and wear on bearingsn Improved repeatability; stress from restrained load does not

cause warpagen Pinned fixture blocks provide quick, repeatable changeover

MoToSWeeP o-20 MoToSWeeP o-50Robot(s) HP20, HP20-6, EA1900NT HP50, HP50-20Mount Ceiling, Wall CeilingHeight 2,640 mm* 2,640 mm*Boom l 2,000 mm** 2,000 mm**offset 1,025 mm* 1,025 mm** Straight or C-frame riser available. Straight raiser height is 2,580 mm ** O-20 has 2.5-m boom as an option Options: hard stops, zone rings, and weld wire assist feeder

MotoSweep O and MotoSweep F

transportErsMoving the robot greatly increases the working range and application flexiblity. Motoman provides rotary transporters for robots in overhead- or floor-mounted configurations (MotoSweep-O, -F). Linear transporters are also available (MotoRail) in wall- or floor-mounted configurations. Both are available in heavy-duty configurations for large-payload robots. Multi-axis gantries are also available.

MotoRail

7-20 7-HD7-50Robot(s) HP20 HP50 HP200T HP20-6 HP50-20 EA1900NTMount Ceiling, Wall Ceiling, Wall CeilingVelocity 2.5 m/sec 2.5 m/sec 2.66 m/secRepeatability ±0.1 mm ±0.1 mm ±0.15 mmMaximum travel is 31-m with controller on the ground Multiple carriages can operate on the same rail Options: limit switch kits and wire feeder assist kits

n Suited for machine load/unload or welding applications

n Track motion is coordinated with robotn 6-axis robot on rail provides additonal range

of motion and lower cycle time

n Suited for machine loading, press tending or arc welding

n Provides expanded working range for robot with minimal floorspace

n Full 360° working rangen Variety of payload capacities and boom lengths

axis Type RotationRated load 600 kgf Rotation Speed 10.6 rpmSweep Range ±179°358° Sweep Time 6.6 secRobots HP6, HP20, HP20-6, HP50

MoToSWeeP F

90∞

1005

1250

HOME POSITION

COMBINED WORKRANGE RC

3350

1025

2869

2000

WORKINGRANGE X

HEIGHT HR HEIGHT HB

WORKINGRANGE Z

2869

2000

HEIGHT HR

WORKINGRANGE X

1250

COMBINED WORKRANGE RC

3265

HEIGHT HB

WORKINGRANGE Z

Ceiling Mount with C-Frame Riser

Ceiling Mount with Straight Riser

28692000

WORKING RANGE X

WORKING RANGE Z

HEIGHT HB

HEIGHT HR

3265

COMBINED WORK RANGE RC

1250

3377

4092

MotoRail 7-50

BEAM LENGTH, L

8-METER MAX.(LEG SPAC ING) 1.5-METER MAX.

OVERHANG

STROKE = L – 1000

STROKE + 4092

1731 SHOWN1481 (O PT IO N)

1981 (O PTIO N)

3250 SHOWN3000 (O PTIO N)

3500 (O PTIO N)

3377

STROKE + 4092STROKE = L - 1000

4092

1481 (OPTION) 1731 (SHOWN) 1981 (OPTION)

3000 (OPTION) 3250 (SHOWN) 3500 (OPTION)

HEaDstoCKs n Multi-aXis n transportErs

Floor Tracks

Gantry

Robots provide six degrees of freedom with up to 600 kg payload capacity at an economical price. Multiple robots can be combined to lift heavier parts. Motoman's industry-leading multiple robot control has been used to create unique solutions to incorporate handling robots for pre- or post-processing as well as “jigless” applications.n Combine robots of varying payloads and

applications for flexibilityn Utilize part positioning robots for optimum process

speeds and flexibilityn Robotic unload of bulky/heavy assemblies can

reduce worker injuries and lower insurance ratesn Automatic part inspection can be incorporated into

unload operation for separation of conforming and non-conforming parts

MotoSweep O HD

transportErs

Heavy-Duty Drive Module

LEADING THE INDUSTRY WITH MULTIPLE

ROBOT CONTROL

JiglEss

n Wide variety of payload capacities and travel speeds available.

n Robot motion coordinated with linear travel and part positioners

n Options include multiple carriages on single track or larger carriages to carry robot controller or process equipment.

n Heavy capacity supports large-payload robots (HP200T)

n Provides extended support (2.5-m) for long-arm HP50-20

n Heavy-duty turning unit can be integrated with heavy fixtures

n Low-profile designn Turning unit is common with MotoSweep HD

n Expands range of robotn Coordinated motion between all axes

1027

5160

4030

(A)

Robot Center

Boom Axis

Riser Base Center

Working Range (X)

HP200T HP50 HP50-20 HP50-35Sweep Radius (a) 2,000 2,750/3,500 2,750/3,500 2,750/3,500Working Range (X) 2,415 2,046 3,106 2525Boom Velocity 3.9 rpm 3.9 rpm 3.9 rpm 3.9 rpmBoom Range ±180° ±180° ±180° ±180°Repeatability ±0.15 mm ±0.15 mm ±0.15 mm ±0.15 mm

Rated load 10,000 kgRated Torque 12,000 NmRotation Speed 3.9 rpmRotation Continuous or reciprocating

HD DRiVe MoDule

Payload EA1400, EA1900. HP6 or HP20axis X, Y, ZSpeed 0-16.9 rpm, 0-16.9 0-8.7 m/min.length Varies (1,800 mm, 1,200 mm)

GaNTRY

turntaBlEs n FErris-WHEEl positionErs n

Payload 3,000 kgTurning Diameter 1,200 mm TilT RoTaTeTorque 14,000 Nm 2,290 Nmoff Center 466 mm 76 mm180° indexing 6.2-sec 2.7-secDistance to Cl 620 mm 180 mm

MDK-3000-4.5

EuropEan positionErs

y-axis

x-axis

Ø600A 1500

620 80

0

500

1070

Ar = 750

y-axis

x-axis

VMF-500 VMF-750Payload 500 kg per side at 173 mm offset 750 kg per side at 225 mm offsetSweep Time 6 sec. 6-8 sec.Turn Speed 0-5.2 rpm tilt, 0-16.8 rpm rotate 0-5.2 rpm tilt, 0-8.4 rpm rotateMax Part Size 3,300 mm L x 1,500 mm dia. 3,200 mm L x 1,500 mm dia.Torque (Static) 2,400 Nm, 848 Nm 2,400 Nm, 1,656 Nm

VMF – Five-Axis Indexing Tilt-Rotate Positionern Suited to longer parts such as final exhaust

assembliesn Tilting axis allows complex geometries to

be welded in 1F positionn Positioner base is angled to provide

ergonomic load height

MDK – Heavy-Duty Tilt-Rotate Positionern Ideal for contoured parts such as

catalytic convertersn Stout design supports heavy fixtures

with hydraulic clampingn Optional slip rings for utilities through

the center faceplate

RWV4 – 4-Station Rotary Tablen Suited to automotive exhaust or seating

assembliesn Multiple stations allow two process stations

plus load/unload stationsn Large capacity slip ring allows continuous

rotation

MTI – Skyhook Positionern Suited to heavier parts

such as construction equipment frames

n Offset “Skyhook” design keeps part on center while tilting

n Thru-hole in faceplate for utilities

x-axis

y-axis

850

A

D

1195

3107

y-axis

x-axis

1300

650 21

8510

00

MT1-1500 S2X (C-design – optional)

Payload per Station 500 kg 1,500 kg 2,000 kgDistance Between 1,200-2,000 mm 1,400-3,000 mm 1,800-3,600 mm Fixture Plates (a) Maximum Fixture 1,200, 1,600 mm 1,200, 1,600 mm 1,200, 1,600 mm Width, Dia. (D)Rated offset, 188 mm 138 mm 162 mm from Center of Gravity Maximum Speed (X-axis) 28.3 rpm 28.3 rpm 21.0 rpm180° indexing Time (X-axis) 1.5 sec 1.6 sec 2.2 secMaximum Speed (Y-axis) 45°/sec 34°/sec 28°/sec180° indexing Time (Y-axis) 4.0 sec 4.9 sec 5.5 sec

RWV4-500 RWV4-1500 RWV4-2000

1800 1300

37474167

3140

1041 80

0

2985

1250 1250

y-axis

x-axis

y-axis

x-axis

MT1-5000 S2XMT1-3000 S2X

Payload 1,500 kg 3,000 kg 5,000 kgoffset X, Y 272 mm, 180 mm 462 mm, 321 mm 283 mm, 197 mmTilt 0-4.5 rpm 0-1.9 rpm 0-1.9 rpmRotate 0-6.9 rpm 0-2.7 rpm 0-2.7 rpmMax l 1,500 mm 2,335 mm 1,875 mmMax Dia. 2,390 mm 3,600 mm 2.600 mmTorque (Static) X, Tilt 4,080 Nm 13,880 Nm 13880 Nm Y, Tilt 2,680 Nm 9,650 Nm 9,690 Nm

MT1-1500 MT1-3000 MT1-5000

MotoMan CoRPoRatE HEaDQUaRtERS805 LibERty LanE, WESt CaRRoLLton, oHio 45449

tEL: 937.847.6200 • FaX: 937.847.6277WEb SitE: www.motoman.com

aLL DiMEnSionS aRE MEtRiC (MM) anD FoR REFEREnCE onLy REQUESt DEtaiL DRaWingS FoR aLL DESign/EnginEERing REQUiREMEntS tECHniCaL SPECiFiCationS SUbJECt to CHangE WitHoUt notiCEDS-297-a ©2008 MotoMan inC. JULy 2008

MotoMan iS a REgiStERED tRaDEMaRKaLL MaRKS aRE tHE tRaDEMaRKS anD

REgiStERED tRaDEMaRKS oF MotoMan inC.

G L O B A L S U P P O R T N E T W O R K

www.motoman.com

Motoman inc.805 Liberty LaneWest Carrollton, ohio 45449tel: 937.847.6200Fax: 937.847.6277

1050 South Dorset Roadtroy, ohio 45373tel: 937.440.2600Fax: 937.440.2626

HEADQUARTERS

MANUFACTURING FACILITY

yaskawa Motoman Canada Ltd.3530 Laird Road, Unit 3Mississauga, ontario L5L 5Z7Canadatel: 905.569.6686Fax: 905.569.2240

yaskawa Motoman Canada Ltd.Montreal technical Center298 LabrossePointe Claire, Quebec H9R 5L8Canadatel: 519.693.6770Fax: 519.693.9212

Motoman Robotica do brasilVia anchieta km 22,5 - n.129 - Unid.3 - Vila Marchi09823-000 - São bernardo do Campo - SP CEP 04304-000tel: 5511.4352.3002Fax: 5511.4352.3338

Detroit Regional Center2050 austin avenueRochester Hills, Mi 48309-3665tel: 248.668.8800Fax: 248.668.8811

Los angeles Regional Center1701 Kaiser avenueirvine, California 92614tel: 949.263.2640Fax: 949.263.2644

U.S. REGIONAL FACILITIES INTERNATIONAL FACILITIESyaskawa Motoman Mexico S.a. de C.V.Circuito aguascalientes oriente 134-CParque industrial del Valle de aguascalientesaguascalientes, agS. Mexico 20140tel: 52.449.973.1170Fax: 52.449.973.1171

yaskawa Motoman Mexico S.a. de C.V. Monterrey Mexico Regional Officeav. Regioparque #128Fracc. industrial Regioparqueapodaca, n. L. C. P. 66633 Mexicotel: 52.81.8386.8113Fax: 52.81.8386.8112

Corporate Headquarters

Manufacturing / R&D

Motoman Regional Support Facilities

Worldwide Support Facilities

LOS ANGELES REGIONAL CENTERIRvINE, CALIfORNIA

MOTOMAN INC. WEST CARROLLTON, OhIO

YASkAWA ELECTRIC AMERICAWAukEGAN, ILLINOIS

MOTOMAN INC.TROY, OhIO

DETROIT REGIONAL CENTERROChESTER hILLS, MIChIGAN

YASkAWA ELECTRIC CORPORATIONkITAkYuShu, JAPAN

MOTOMAN RObÓTICA DO bRASILSÃO bERNARDO DO CAMPO, bRASIL

YASkAWA MOTOMAN MEXICO AGuASCALIENTES, MEXICO

MONTREAL REGIONAL OffICEMONTREAL, CANADA

MONTERREY REGIONAL OffICE MONTERREY, MEXICO

MOTOMAN STATIONkITAkYuShu, JAPAN

YASkAWA MOTOMAN CANADAMISSISSAuGA, ONTARIO