YASKAWA

Small butMightySmall butMighty

YASKAWA INDUSTRIAL ROBOTSMALL MOTOMAN SERIES

(FOR USE WITH NXC100 CONTROLLERS)

R009QMS Accreditation

ENVIRONMENTALSYSTEM

C

ER T I F I ED

MA

NAGEMENT SYST

EM

JQA-EM0924JQA-0813

QUALITY SYSTEM

C

ER T I F I ED

MA

NAGEMENT SYST

EM

FOR HANDLING

VERTICALLY ARTICULATED ROBOT

Certified forISO9001 andISO14001

2

D

R277

HP3:R23

5

(HP5:R25

0)

170˚

6761

.5

170

R701

MOTOMAN-HP3/-HP5 Payload: 3 kg/5 kgMaximum Reach: R701 mm

Faster axis speed and lighter body weight. The small NXC100 controller has high-accuracy path control and vibration-suppression control for reduced residual vibration when starting and stopping to shorten cycle times.

With the smallest interference radius and the best minimum and maximum reach in their class, the MOTOMAN-HP3/-HP5 robots can use a wider variety of workpieces than previously possible.Also, the compact wrist is designed for optimal handling. For example, its accessibility to jigs is greatly improved.

Floor-mounted, wall-mounted, and ceiling-mounted types are available.

6P.C.D.31.5

645

Air Outlet BPT1/8 tapped,(with plug)

Air Outlet APT1/8 tapped,(with plug)

View A View B

View C View D

: P-point Maximum Envelope

195

220

204

99± 0

.1 195220

116±0.1225

97± 0

.1

97± 0

.1

77±0.173±0.1

341

116±

0.1

ModelTypeControlled AxisPayloadRepeatability1

Power Requirements2

Model

Mass

6 (Verticaly articulated)

±0.03 mm±170˚

+150˚ to −45˚+210° to −152˚

±190˚ ±125˚ ±360˚

3.14 rad/s, 180˚/s3.93 rad/s, 225˚/s6.54 rad/s, 375˚/s6.54 rad/s, 375˚/s8.73 rad/s, 500˚/s

7.25 N · m7.25 N · m5.21 N · m0.3 kg · m2

0.3 kg · m2

0.1 kg · m2

0 C to +45C20 to 80 %RH (non-condensing)

Less than 4.9 m/s2

1 kVA

Free from corrosive gasses or liquids, or explosive gasses

Clean and dry

Free from excessive electrical noise (plasma)

AmbientConditions

TemperatureHumidityVibration

Others

Allowable Moment

Allowable Inertia （GD2/4）

Range of Motion

Maximum Speed

＊1：Conforms to JIS B 8432. ＊2：Varies in accordance with applications and motion patterns.Note： SI units are used for specifications.

(turning)(lower arm)(upper arm)(wrist roll)(wrist pitch/yam)(wrist twist)(turning)(lower arm)(upper arm)(wrist roll)(wrist pitch/yam)(wrist twist)

S-axisL-axisU-axisR-axisB-axisT-axisS-axisL-axisU-axisR-axisB-axisT-axis

(wrist roll)(wrist pitch/yam)(wrist twist)(wrist roll)(wrist pitch/yam)(wrist twist)

R-axisB-axisT-axisR-axisB-axisT-axis

MOTOMAN-HP5YR-HP5-A00

5 kg

3.66 rad/s, 210˚/s 4.36 rad/s, 250˚/s

MOTOMAN-HP3YR-HP3-A00

3 kg

MOTOMAN-HP5

47 kg

MOTOMAN-HP3

45 kg

S M A L L M O T O M A N S E R I E S

Dimensions Units: mm

Manipulator Specifications

20

di

a.＋

0.01

3　

0

40

di

a. 0－

0.01

6

4-M5 Tapped Holes(Pitch:0.8)(Depth:9)

5 　　dia. Hole(Depth:7)

＋0.012　0

6 　　dia.Hole

＋0.012　0

4-11 dia. Holes

2-12　　 dia. Holes＋0.018　0

2-PT1/4 tapped,(with plug)

1 2

Connector TypePlug Type(Prepared by user)

JL05-2A20-29PC (with cap) JL05-6A20-29SJL05-2A20-29SC

12 JL05-6A20-29P

A

B

C

323

167

300

747 29

085

72

416 347

0

262203

20 225 427

702

445

607

349300

15015045˚45˚

281

300

190

72˚

0100

190 27720190

901

701

176

0

Point P

S

L

BT

RU

D

R277

R250

170˚

170

6761

.5

R701

Payload: 3 kgMaximum Reach: R701 mm

The small NXC100 controller has high-accuracy path control and vibration-suppression control for reduced residual vibration when starting and stopping to shorten cycle times.

Designed especially for high-frequency handling. The MOTOMAN-HP3XF shows its power by handling workpieces within a standard cycle time of approximately 0.4 seconds.

Floor-mounted, wall-mounted, and ceiling-mounted types are available

Free from corrosive gasses or liquids, or explosive gasses

Clean and dry

Free from excessive electrical noise (plasma)

ModelTypeControlled AxisPayloadRepeatability1

Range of Motion

Maximum Speed

(turning)(lower arm)(upper arm)(wrist roll)(wrist pitch/yam)(wrist twist)(turning)(lower arm)(upper arm)(wrist roll)(wrist pitch/yam)(wrist twist)

S-axisL-axisU-axisR-axisB-axisT-axisS-axisL-axisU-axisR-axisB-axisT-axis

MOTOMAN-HP3XFYR-HP3XF-A00

6 (Verticaly articulated) 3 kg

± 0.03 mm±170˚

+150˚ to − 45˚+ 210˚ to −152˚

±190˚±125˚±360˚

4.36 rad/s, 250˚/s3.14 rad/s, 180˚/s3.93 rad/s, 225˚/s6.54 rad/s, 375˚/s6.54 rad/s, 375˚/s8.73 rad/s, 500˚/s

MOTOMAN-HP3XFS M A L L M O T O M A N S E R I E S

: P-point Maximum EnvelopeDimensions Units: mm

Manipulator Specifications

Power Requirements2

Mass

7.25 N · m7.25 N · m5.21 N · m0.3 kg · m2

0.3 kg · m2

0.1 kg · m2

47 kg0 C to +45C

20 to 80 %RH (non-condensing)

Less than 4.9 m/s2

1 kVA

TemperatureHumidityVibration

Others

Allowable Moment

Allowable Inertia （GD2/4）

＊1：Conforms to JIS B 8432. ＊2：Varies in accordance with applications and motion patterns.Note： SI units are used for specifications.

(wrist roll)(wrist pitch/yam)(wrist twist)(wrist roll)(wrist pitch/yam)(wrist twist)

R-axisB-axisT-axisR-axisB-axisT-axis

195

220

204

99± 0

.1 195220

116±0.1225

97± 0

.1

97± 0

.1

77±0.173±0.1

341

116±

0.1

6P.C.D.31.5

645

View B

6 　　dia.Hole

＋0.012　0

4-11 dia. Holes

2-12　　 dia. Holes＋0.018　0

View A

20

di

a.＋

0.01

3　

0

40

di

a. 0－

0.01

6

4-M5 Tapped Holes(Pitch:0.8)(Depth:9)

5 　　dia. Hole(Depth:7)

＋0.012　0

Air Outlet BPT1/8 tapped,(with plug)

Air Outlet APT1/8 tapped,(with plug)

View C View D

2-PT1/4 tapped,(with plug)

1 2

JL05-2A20-29PC (with cap) JL05-6A20-29SJL05-2A20-29SC

12 JL05-6A20-29P

AmbientConditions

Connector TypePlug Type(Prepared by user)

300100 90

20 225 4270

L

323

167

300

747 29

085

72

416 347

0

262203

702

445

607

349300281

72˚

0 190 277201

901

701

176

Point P

S

BT

RU

A

B

C

15015015045˚45˚

190

4

R859

6761

.5

R302

R25

0

170

170˚ D

Payload: 3 kgMaximum Reach: R859 mm

2-PT1/4 tapped,(with plug)

Air Outlet B2-PT1/8 tapped,(with plug)

Air Outlet A2-PT1/8 tapped,(with plug)

View A

View B

View C

ModelTypeControlled AxisPayloadRepeatability1

Range of Motion

Maximum Speed

(turning)(lower arm)(upper arm)(wrist roll)(wrist pitch/yam)(wrist twist)(turning)(lower arm)(upper arm)(wrist roll)(wrist pitch/yam)(wrist twist)

S-axisL-axisU-axisR-axisB-axisT-axisS-axisL-axisU-axisR-axisB-axisT-axis

MOTOMAN-HP3LYR-HP3L-A00

6 (Verticaly articulated) 3 kg

±0.04 mm ±170 °

＋150° to －45°＋235° to －144°

±190° ±125°±360°

4.36 rad/s，250ﾟ/s3.14 rad/s，180ﾟ/s3.93 rad/s，225ﾟ/s6.54 rad/s，375ﾟ/s6.54 rad/s，375ﾟ/s8.73 rad/s，500ﾟ/s

MOTOMAN-HP3LThe small NXC100 controller has high-accuracy path control and vibration-suppression control for reduced residual vibration when starting and stopping to shorten cycle times.

The MOTOMAN-HP3L is a MOTOMAN-HP3 robot with longer lower (L-axis) and upper (U-axis) arms for a wider range of motion. With its compact body and wide range of motion, a more efficient layout for your production line can be realized.

Floor-mounted, wall-mounted, and ceiling-mounted types are available.

S M A L L M O T O M A N S E R I E S

: P-point Maximum EnvelopeDimensions Units: mm

Manipulator Specifications7.25 N · m7.25 N · m5.21 N · m0.3 kg · m2

0.3 kg · m2

0.1 kg · m2

49 kg0 C to +45C

20 to 80 %RH (non-condensing)

Less than 4.9 m/s2

1 kVA

＊1：Conforms to JIS B 8432. ＊2：Varies in accordance with applications and motion patterns.Note： SI units are used for specifications.

Free from corrosive gasses or liquids, or explosive gasses

Clean and dry

Free from excessive electrical noise (plasma)

195

220

204

99± 0

.1 195220

116±0.1225

97± 0

.1

97± 0

.1

77±0.173±0.1

341

116±

0.1

6P.C.D.31.5

645

Connector TypePlug Type(Prepared by user)

JL05-2A20-29PC (with cap) JL05-6A20-29SJL05-2A20-29SC

12 JL05-6A20-29P

Power Requirements2

MassTemperatureHumidityVibration

Others

Allowable Moment

Allowable Inertia （GD2/4）

(wrist roll)(wrist pitch/yam)(wrist twist)(wrist roll)(wrist pitch/yam)(wrist twist)

R-axisB-axisT-axisR-axisB-axisT-axis

AmbientConditions

20

d

ia.

＋0.

013

　0

40

di

a. 0－

0.01

6

4-M5 Tapped Holes(Pitch:0.8)(Depth:9)

5 　　dia. Hole(Depth:7)

＋0.012　0

6 　　dia.Hole

＋0.012　0

4-11 dia. Holes2-12　　 dia. Holes＋0.018

　0

1

2

View D

312

551 437

270 242 480410

0

310 0 216198 298 859

1059

202158

300

465

710

837

72

190

100 380 90

7085

370

300

827

Point P

57.5

A

B

CS

L

BT

RU

150˚150˚

45˚45˚

S M A L L M O T O M A N S E R I E S

Operation Screen

For High-quality Systems

Revolutionary small NXC100 controller

Coordinated control with 36 axesThe NXC100 can control four manipulators (36 axes). This feature enables easy construction of a system for “Coordinated Motion (up to 4 manipulators)” and helps save space and reduce equipment cost.

Flexibility in installationThe NXC100 controller can be installed horizontally or vertically for effective use of space.

Color display & touch panelThe programming panel required for teaching and maintenance has a 6.5-inch color LCD with a touch panel function of 640×480 pixels. Using icons, drawings, and operations similar to Windows, the operations are even easier than ever before. Note: Windows is a registered trademark of Microsoft Corporation, U.S.A.

Enhanced ladder editing and monitoring functionThe programming pendant enables a remarkably increased debugging efficiency of I/O signals in setting up the system on site, allowing you to edit a ladder diagram on the screen. With an increased memory capacity of 10,000 steps, no external PLC is required.

Easy pre-examinationFor cell simulation, an easy pre-examination is available on your PC by optional high-speed 3D graphics MotoSim EG. It also supports ROBCAD and IGRIP for the line simulation.

: MOTOMAN Simulator Enhanced Graphics

Note: ROBCAD is a registered trademark of UGS Corp.IGRIP is a registered trademark of DELMIA Corp.

For User-friendly Systems

Programming pendant filled with functions

Operationswitches

Compact flashcard slot

6.5-inch colorLCD with touchpanel

Optimal key layout

5

NXC100 Specifications Programming Pendant Specifications

SMALL MOTOMAN SERIES

Items Specifications Items SpecificationsFree-standing, not dust-proof485(W)×300(D)×183(H) mm (Possible to control an external axis.)

485(W)×300(D)×50(H) mm (Optional)

16 kg

2 kg

Direct coolingDuring operation: 0 C to +40C During storage: −10C to +60C

90% max. (non-condensing)

Three-phase 200/220 VAC (+10% to −15%), 60 Hz (Japan)

Three-phase 200 VAC (+10%, −15%), 50 Hz (Japan)

Grounding resistance: 100Ω or lessSpecialized signals : 10 inputs and 2 outputsGeneral signals : 12 inputs and 14 outputsMax.I/O (optional) : 1024 inputs and 1024 outputsBy serial encoderJOB: 60,000 steps

10,000 instructionsCIO ladder: 10,000 steps max.PCI: 1 slot1 (10BaseT/100BaseTX)

RS-232C: 1chSoftware servo controlFor robot axes: Two servo circuit boards for AC servo with 3 axesFor external axis (optional): One axis (200 W max. with some operation restrictions)

Munsell notation 5Y 7/1 (reference value)

Conforms to Category Ⅲ

Configuration

Dimensions

Approx.Mass

Cooling System

AmbientConditions

Power Supply

Grounding

Digital l/Os

Positioning System

Programming Capacity

Expansion SlotsLAN (Connection to Host)

InterfaceControl Method

Drive Units

Painting ColorSafety Classification

I/O Box

ExpandedI/O BoxI/O BoxExpandedI/O Box

AmbientTemperatureRelativeHumidity

199(W)×338(H)×60(D) mm 1.32 kgReinforced plasticsSelect keys, axes keys, numerical/application keys, mode keys (mode: teach, play, and remote), emergency stop button, deadman switch, compact flash card interface device (Compact flash is optional.)

6.5 -inch color LCD, touch panel 640×480 pixels(Alphanumeric characters, Chinese characters, Japanese letters, others)

IP65Standard: 8 m, Max.: 36 m (optional)

DimensionsApprox. MassMaterial

Operation Device

Display

IEC Protection Class Cable Length

YASKAWA ELECTRIC CORPORATION

Printed in Japan November 2005 05-1105-10⑪

LITERATURE NO. KAEP C940440 06A

YASKAWA

Specifications are subject to change without notice for ongoing product modifications and improvements.

© 2005 YASKAWA ELECTRIC CORPORATION. All rights reserved.

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.

Printed on 100% recycled paperwith soybean oil ink.

Sales Department

HEAD OFFICE 2-1 Kurosaki-Shiroishi, Yahatanisi-ku, Kitakyushu-shi, 806-0004 JAPAN Phone 81-93-645-7745 Fax 81-93-645-7746

MOTOMAN INC. HEADQUARTERS805 Liberty Lane West Carrollton, OH 45449 U.S.A.Phone 1-937-847-6200 Fax 1-937-847-6277

MOTOMAN ROBOTICS EUROPE ABFranska Vagen 10 SE-390 04 Kalmar SwedenPhone 46-480-417800 Fax 46-480-417999

MOTOMAN ROBOTEC GmbHKammerfeld strasse 1. 85391 Allershausen, GermanyPhone 49-8166-90-0 Fax 49-8166-90-103

YASKAWA ELECTRIC KOREA CORPORATION1F, Samyang Bldg. 89-1, Shinchun-dong, Donk-ku, Daegu, KoreaPhone 82-53-382-7844 Fax 82-53-382-7845

YASKAWA ELECTRIC (SINGAPORE) PTE. LTD.151 Lorong Chuan, #04-01, New Tech Park Singapore 556741, SingaporePhone 65-6282-3003 Fax 65-6289-3003

MIRLE AUTOMATION Co.No.3, R&D Road Ⅱ, Science-Based Industrial Park, Hsinchu, 30077, Taiwan Phone 886-3-578-3280-500 Fax 886-3-578-7426

SHOUGANG MOTOMAN ROBOT CO., LTD.7, Yongchang-North Street, Beijing Economic & Technological Investment &Development Area, Beijing 100076 ChinaPhone 86-10-6788-0541 Fax 86-10-6788-0542