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