handling robot for picking and packing ... - yaskawa...
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Handling Robot for Picking and Packing
MOTOMAN-MPP and MPK Series
Certified for
ISO9001 and
ISO14001
R009QMS Accreditation JQA-EM0924JQA-0813
The MOTOMAN-MPP and MPK series offer logistics with automated transfer systems for the picking and packing processes.
PickingMOTOMAN-MPP3High productivity
Example of food manufacturing
High level of cleanliness
The MPP series of robots can be installed in close proximity in a
small space. As the best in their class, they also enable high-speed
handling with a large motion range and improve productivity.
The MPP series of robots are designed to maintain high level of
cleanliness for food handling.
Flexible and high-speed handling is maximized by using a function
specially designed to synchronize two conveyors, the vision function
and the production management function.
Large motion range with a small installation space
***
1
23
:
::
Handling in Adept cycle (25 mm × 305 mm × 25 mm) without positioning limit. Does not include the time for using suction to grab a workpiece.Cycle per minuteWith a limit in continuous operations
* : For details, refer to the catalog for the MOTOMAN-MPL Series (KAEP C940560 01).
100
50
4
2
200 150 100 50
Feeder forsmall containers
Packaging machine
Handling Capacity (Cycle Per Minute)
Food manufacturingmachine
Feeder forlarge cardboard boxes
Paylo
ad
(kg
)
MOTOMAN-MPP3MOTOMAN-MPK2, MPK2F
MOTOMAN-MPL Series*
MOTOMAN-MPK50
Picking 1 Picking 2 Packing Palletizing
Placing one or two products
at a time on a tray or in a box
Bagging products and boxing
small wrapped products
Packing one row
or layer of
products in a box
Stacking boxes
on pallets
150 CPM*2 with a 3-kg load and 230 CPM*3 with a 1-kg load are possible.
Allowable inertia of the wrist is 0.017 kg・m2, and high-speed handling with two hands is possible.
Largest range of motion for robots with 3-kg payload: 1300 mm (dia.) × 500 mm (H)
Smallest installation space for robots with 3-kg payload: 750 mm dia.
Because they can be mounted on ceilings and maintenance is done from the top downwards, damage or contamination of workpieces and conveyors is prevented if a work tool, part, or grease falls during maintenance.
The surface of the body, excluding arms, is smooth and easy to clean.
Food-grade lubricant is used (NSF H1 registered).2
High flexibility in layout design
PickingMOTOMAN-MPK2, MPK2F
193 223
PackingMOTOMAN-MPK50
500
400
90
125
600
Multi-purpose
With a high-payload, a wide motion range, and a wide variety of the
components, the MOTOMAN-MPK50 can be used as a palletizing
robot for small workpieces.
R751
R1893
R561
* : Does not include the time for grabbing and releasing a workpiece.
(Minimum turning radius)
Motion pattern 2Motion pattern 1
・
・
Simultaneous positioning & transfer
Max. speed of T-axis increased to 2000°/s
High productivityWith the fastest motion speed in its class, the MOTOMAN-MPK2 and MPK2F can quickly transfer
many workpieces in a short period. Smooth, continuous operation is possible with high precision.
High-speed positioning
Motion pattern 10.47 sec(128 cycles/min: 2 kg)
Motion pattern 20.86 sec(70 cycles/min: 2 kg)
Cycle time*High-speed, continuous operation
Motion pattern 1(Picking pattern)
Motion pattern 2(Packing pattern) * : Does not include the time
for grabbing and releasing a workpiece.
25 mm
25 mm300 mm
200 mm140 mm
130 mm
・
・
Manipulator’s high level of cleanliness guarantees safety
and sanitation of the transferred products.
・
・
Exposed parts made from corrosion-resistant materials with surface treatment and washable coating
Cable and hoses protected in hollow shaft of arm
High level of cleanliness
Countermeasures against contamination
Protection against corrosion & dust
・・
No depressions of grooves to hold dirt
Particles do not collect or adhere.
Protection against dirt & particles
・・
Multi-layered sealing construction on all drive shafts
Food-grade lubricant used (NSF H1 registered)
Protection against lubricants ・・・
Washable coating withstands daily washing
Can be washed with disinfectants, including acidic or alkaline liquids.
Water-proof performance conforms to IP67 specifications (with tools mounted).
Protection against disinfectant washing
Stain-resistant surface and structure, washable coating,
and water proofing against daily disinfectant washing.
Washability (Disinfectant)
On walls On floorsDimensions
Enables flexibility regardless of space restrictions
or installation method for high-density layouts.
Space-saving installation
All installation methods possible
On ceiling
High productivityWith a high payload and the highest speed in its class, many more workpieces can
be picked up and packed in a short period of time.
Increased efficiency by transferring and packing many
workpieces from a single row or layer at one time.
High-speed packing High-speed handling
1014.5
508.5506
(Maximum width)
・1.1 sec(55 cycles/min: 30 kg)
Cycle time*
・0.6 sec(100 cycles/min: 40 kg)
Cycle time*
Max. payload: 50 kg
Maximum horizontal reach (T-point): 1893 mm, Vertical motion range: 1668 mm, S-axis turning range: -180˚ - +180˚
Wide motion range (Palletizing also possible)
One cable (23-core), two air hoses (dia.: 10 mm), and one tube for field-bus cable (dia.: 12 mm) accommodated in hollow arm.
Wide variety of components
Protection Class
Options Food-grade lubricant for food machinery
Can transfer many workpieces at one time
Space-saving installation
Compact design increases usability in restricted
spaces or in high-density layouts.
Shortened maximum width
Minimized minimum turning radius
T-point maximum envelope
Packaging machine
Feeder
T-point
Body: IP54 (optional: IP65), Wrist: IP67
3
Optimum controller for handling and assembly
Open controller
・・・・・・・
High-speed Compact Controller for Handling FS100
Hardware Options Optional Functions
・・・・・・・・・
Energy saving mode (with servomotor turn off limit)
Software pendant
Network (data transfer, FTP, Ethernet server)
Bilingual display (Shown in the required language.)
Items
Configuration
Dimensions
Mass
Cooling System
Ambient
Temperature
Relative Humidity
Power Supply
Grounding
Digital l/Os
Positioning System
Programming
Capacity
Expansion Slots
LAN (Connection to Host)
Interface
Control Method
Drive Units
Painting Color
Standard: IP20 (open structure)
Option : IP54 (dustproof housing)
For MPP3/MPK2F: 470 (W)×420 (D)×200 (H) mm
20 kg
Direct cooling
During operation: 0˚C to +40˚C
During storage : ‒10˚C to +60˚C
90% max. (non-condensing)
Three-phase 200/220 VAC (+10% to ‒15%), 50/60 Hz
Grounding resistance: 100 Ω or less
Specialized signals: 12 inputs and 12 outputs
General signals : 16 inputs and 16 outputs
Max. I/O (optional) : 1,024 inputs and 1,024 outputs
By serial encoder
JOB: 10,000 steps, 1,000 instructions
CIO ladder: 1,500 steps
MP2000 bus × 5 slots
1 (10BASE-T/100BASE-TX)
RS-232C: 1ch
Software servo control
Four to six axes for robots (Varies according to model number.)
Two more axes can be added as external axes. (Can be installed
in the controller.)
Munsell notation 5Y7/1 (reference value)
FS100 Controller SpecificationsItems
Dimensions
Mass
Material
Operation
Device
Display
IEC Protection Class
Cable Length
169 (W)×314.5 (H)×50 (D) mm
0.990 kg
Reinforced plastics
Select keys, axis keys (8 axes), numerical/application
keys, Mode switch with key (mode: teach, play, and
remote), emergency stop button, enable switch, compact
flash card interface device (compact flash is optional.),
USB port (1 port)
640×480 pixels color LCD, touch panel
(Alphanumeric characters, Chinese characters, Japanese letters, Others)
IP65
Standard: 8 m, optional: 20 m max.
Programming Pendant SpecificationsSpecificationsSpecifications
Optional
Optional
Note: A programming pendant or a dummy connector is required with the FS100. (Sold separately.)
Programming pendant (model: JZRCR-YPP03-1) For maintenance, the programming pendant is required. One programming pendant can be used with more than one controller.
Dummy connector (model: CBL-FRC063-1)
The dummy connector must be inserted when the programming pendant is not connected or when the software pendant is used.
Conveyor synchronization
TCP
Relative job
Coordinated control
Servo float
・・・・・
Vision function
External reference point control
Independent control
Search
Automatic backup
The FS100 is a compact controller with improved performance and functions optimized
for handling and assembly. Can be used with robots with a 20-kg payload or less.
Fits in a 19-inch rack and can be installed under conveyors.
Improved performance and high-speed control obtained by improving resolutions for I/O commands as well as by reducing time for ladder scanning.
High-speed positioning achieved by suppressing vibration of hands (MPP3/MPK2F).
Commands specifically designed for workpiece handling with synchronized conveyors.
Custom-made functions and windows can be created for various purposes and users.
MotoPlus
Optional
Optional
Sophisticated and flexible robot control programs that were not possible with INFORM and CIO ladder programs can be developed by using C languages.
Customization of programming pendantOperation windows for the programming pendant can be customized using VC++ and C# languages in accordance with needs and applications.
Interface panels
The windows in the operation panel can be created to look the same in the programming pendant.
Programming pendant
IP54 protective structure
External axis (max.: 2 axes)
I/O module (28 points, NPN or PNP)
Counter module (2 channels)
Analog I/O module (8 channels)
Major fieldbus interface boards
DeviceNet (master/slave), CC-Link (slave), PROFIBUS (slave), Ethernet/IP (slave, I/O communications)
4
Robot controller can control up to 72 axes (8 robots). Its higher instruction processing speed, increased
functions, and slim profile minimize the space required for production equipment and improve productivity.
Controller DX100
DX100 Controller Specifications
Camera
Transmit data on workpiece position
Obtain data on workpiece position
Tray
FS100 controller
MOTOMAM-MPP3
Conveyor for placing
Conveyor for picking
Workpieces
Picking & Packing Software MotoPick
MotoPick
Optional
MotoPick provides support for picking and packing with the software applications specially designed for those operations.
A pattern for the arrangement of workpieces moving on a conveyor or a pattern for picking and placing operation can be
easily selected or changed on a computer. This software helps improve overall productivity in conveyor lines.
Realtime automatic scheduling
The motion patterns of the robot in pick and place
applications are controlled based on the position data of
workpieces that have been obtained by the camera and
transferred to the robot’s controller.
Vision function
The camera connected to a computer running MotoPick
can be adjusted and controlled. Data on positions of
individual workpieces moving on a conveyor can
automatically be obtained with the camera.
Note: MotoPick can also be used with the DX100 controller.
Conveyor Synchronization System for the MPP3 with FS100 Controller
Items
Configuration
Dimensions
Mass
Cooling System
Ambient
Temperature
Relative Humidity
Power
Supply
Grounding
Digital l/Os
Positioning System
Programming
Capacity
Expansion
Slots
LAN (Connection to Host)
Interface
Control Method
Drive Units
Painting Color
Items
Configuration
Dimensions
Mass
Cooling System
Ambient
Temperature
Relative Humidity
Power
Supply
Grounding
Digital l/Os
Positioning System
Programming
Capacity
Expansion
Slots
LAN (Connection to Host)
Interface
Control Method
Drive Units
Painting Color
Specifications
Dust proof
Indirect cooling
During operation : 0˚C to +45˚C,During storage : −10˚C to +60˚C
90% max. (non-condensing)
Three-phase 200/220 VAC (+10% to −15%), 60 Hz (±2%)(Japan)
Three-phase 200 VAC (+10% to −15%), 50 Hz (±2%)(Japan)
Grounding resistance : 100 Ω or less
Specialized signals : 23 inputs and 5 outputs
General signals : 40 inputs and 40 outputs
Max. I/O (optional) : 2048 inputs and 2048 outputs
By serial encoder
JOB : 200,000 steps, 10,000 instructions
CIO ladder : 20,000 steps
PCI : 2 slots for main CPUs and 1 slot for servo CPU
1 additional slot for sensor board
1 (10BASE-T/100BASE-TX)
RS-232C : 1ch
Software servo control
Standard 6 axes and 2 additional single-axis amplifiers can
be mounted (8 axes max.)
Munsell notation 5Y7/1 (reference value)
For MOTOMAN
-MPK2
For MOTOMAN
-MPK50
For MOTOMAN
-MPK2
For MOTOMAN
-MPK50
425 (W)×450 (D)×1200 (H) mm
(Possible to control two external axes)
425 (W)×570 (D, including protrusions on the back)×1200 (H) mm
(Possible to control two external axes)
100 kg max.
150 kg max.
Items
Dimensions
Mass
Material
Operation
Device
Display
IEC Protection Class
Cable Length
Specifications
169 (W)×314.5 (H)×50 (D) mm
0.990 kg
Reinforced plastics
Select keys, axis keys (8 axes), numerical/application keys,
Mode switch with key (mode : teach, play, and remote),
emergency stop button, enable switch, compact flash card
interface device (compact flash is optional.), USB port (1 port)
640×480 pixels color LCD, touch panel
(Alphanumeric characters, Chinese characters, Japanese
letters, Others)
IP65
Standard : 8 m, Max. : 36 m (with optional extension cable)
Programming Pendant Specifications
5
MOTOMAN-MPK2, MPK2F
Standard TypeModel: YR-MPK0002-B00 (for DX100)
Model: YR-MPK002F-B00 (for FS100)
Built-in Base TypeModel: YR-MPK0002-B01 (for DX100)
Model: YR-MPK002F-B01 (for FS100)
R900
100
170°
170°
R303
R229 45°
Tapped holes M6(4 holes)(Depth: 8.5)(Pitch: 1.0)
P.C
.D.50
5 (fitting depth)
34
15
( 22
.2)
7.6
View A
20 d
ia.
63 d
ia.
0 − 0.0
19
6 dia. (1 hole)(Depth: 6)+0.0120
R900
100
170°
170°
R303
R229
Pin Numbers
1 (Yellow)2 (White)3 (Red)4 (Blue)5 (Green)6 (Orange)
Enlarged View of Tip
4 Air Hoses(OD = 4 mm,ID = 2.5 mm)*
AIR1AIR2AIR3AIR4
Reserved Cable(0.2 mm2×6 wires)
*: OD: Outside Diameter ID: Inside Diameter
193 223
33
0
467
963
0 900
65
303
1560
900
303
23
3
30
3
30
3
S
0
550 70
L
UB
T
A
P-point
66
0
B
35
010
0
11
10
120°12
0°
15°15°
Tip
250
180
C23
32
50
100°
A
D
E
193 223
0
293
227
723
0 900
305
303
1320
900
303
233
189
303
303
S
0
550 70
L
UB
T
P-point
42
03
50
100
87
0
120°12
0°
102°
15°15°233
189
Tip
230
230
57
34
25
0
102°
30°30°30° 30°30°30° 30°30°30°30° 30°30°
170±
0.1
330
295
170±0.1
330295
155±
0.1
155±
0.1
130±0.1
170
4-Inlet4-PT1/8
Connector for internal user I/O wiring harness: RM15WTRZ-10P (with cap)Matching connector: RM15WTPZ-10S*HIROSE* (provided by users)
View B View C
12 dia. (4 holes)
4-Inlet4-PT1/8
Connector for internal user I/O wiring harness: RM15WTRZ-10P (with cap)Matching connector: RM15WTPZ-10S*HIROSE* (provided by users)
172
17
2
Baseplate Hole
330
295
View D View E
170±
0.1
33
0
29
5
155±
0.1
155±
0.1
170±0.1
130±0.1 12 dia. (4 holes)
300 dia.
6 dia. (2 holes)(Depth: 6)
+0.0120 6 dia. (2 holes)
(Depth: 6)
+0.0120
Manipulator Specifications
Standard Type
Built-in Base Type
-axis (turning)
-axis (lower arm)
-axis (upper arm)
-axis (wrist pitch/yaw)
-axis (wrist twist)
-axis (turning)
-axis (lower arm)
-axis (upper arm)
-axis (wrist pitch/yaw)
-axis (wrist twist)
5 (vertically articulated)
2 kg
±0.5 mm
-170˚ - +170˚
-120˚ - +120˚
B00: -100˚ - +280˚, B01: -102˚ - +282˚-150˚ - +150˚
-270˚ - +270˚
5.59 rad/s, 320˚/s
5.76 rad/s, 330˚/s
5.76 rad/s, 330˚/s
6.63 rad/s, 380˚/s
34.9 rad/s, 2000˚/s
Allowable
Moment
Allowable Inertia
(GD2/4)
Ambient
Conditions
3.5 N m
1.5 N m
0.065 kg m2
0.012 kg m2
B00: 75 kg, B01: 72 kg
0˚C to +40˚C
20 to 80%RH (non-condensing)
4.9 m/s2 or less
1.5 kVA
Free from corrosive gasses or liquids,
or explosive gasses
Free from exposure to oil, or dust.
Free from excessive electrical noise (plasma)
S
L
U
B
T
S
L
U
B
T
-axis (wrist pitch/yaw)
-axis (wrist twist)
-axis (wrist pitch/yaw)
-axis (wrist twist)
B
T
B
T
Temperature
Humidity
Vibration
Others
Range of
Motion
Maximum
Speed
Model
Type
Controlled Axis
Payload
Repeatability*1
MOTOMAN-
Power Requirements*2
Mass
**
12
::Conforms to JIS B 8432.Varies in accordance with applications and motion patterns.
Note : SI units are used for specifications.
Dimensions Units : mm : P-point Maximum Envelope
2 kg payload, R900 mm maximum reach
MPK2 (for DX100)
YR-MPK0002-B00
YR-MPK0002-B01
MPK2F (for FS100)
YR-MPK002F-B00
YR-MPK002F-B01
6
MOTOMAN-MPK50
30° 30° 30°30°
50 kg payload, R1893 mm maximum reach
R751
Tapped holes M8(4 holes)(Depth: 16)
80
R1893
180
180°
180°
R561
Dimensions Units : mm : T-point Maximum Envelope
T
U
L
S
12971227
752
427
260
198
0
Tapped holesM12 (4 holes)(Depth: 20)
226
1442
0
T-point
16
73
11
43
93
6
75
1
73
16
69
62
1
95
18
93
40
22°
210
28
3.5
15 °
105°
35° 80°
16
5
16
53
.5 80
06
00
1324
155800200
R680
2002
B
A
C
1014.5
508.5506
View C
8-22 dia.
23
0± 0
.1
230±0.1
195±0.1195±0.1
19
5±
0.1
19
5± 0
.1
400
38
5
32
0
230
12 dia. (2 holes)+0.0180
MOTOMAN-MPK50
YR-MPK0050-A00
4 (vertically articulated)
50 kg
±0.5 mm
-180˚ - +180˚
-35˚ - +80˚
-105˚ - +15˚
-350˚ - +350˚
3.23 rad/s, 185˚/s
3.75 rad/s, 215˚/s
3.75 rad/s, 215˚/s
6.53 rad/s, 374˚/s
Allowable Inertia
(GD2/4)
Ambient
Conditions
5.5 kg m2
670 kg
0C̊ to +45C̊
20 to 80%RH (non-condensing)
4.9 m/s2 or less
4.0 kVA
Free from corrosive gasses or liquids, or
explosive gasses
Free from exposure to water, oil, or dust
Free from excessive electrical noise (plasma)
-axis (wrist twist)T
Temperature
Humidity
Vibration
Others
Range of
Motion
Maximum
Speed
Model
Type
Controlled Axis
Payload
Repeatability*1
Power Requirements*2
Mass
**
12
::Conforms to JIS B 8432.Varies in accordance with applications and motion patterns.
Note : SI units are used for specifications.
-axis (turning)
-axis (lower arm)
-axis (upper arm)
-axis (wrist twist)
-axis (turning)
-axis (lower arm)
-axis (upper arm)
-axis (wrist twist)
S
L
U
T
S
L
U
T
Manipulator Specifications
View B
A B
Connector for internal user I/O wiring harness (Base side):JL05-2A24-28PC (with cap)Matching connector:JL05-6A24-28S (provided by users)
Air Inlet (A, B)2-PT3/8with pipe plug
Tube for Field bus Cables (ID=12 mm) (Robot base)
View A
30°
Tapped holes M8(6 holes)(Depth: 12)
6 5
P.C.D.100 8 dia. (1 hole)(Depth: 10)
63 dia. (1 hole)(Depth: 5)+0.0300
125 dia. (1 hole)(Depth: 6)0−0.025
+0.0150
7
MOTOMAN-MPP and MPK Series
MOTOMAN-MPP3
Dimensions Units: mm : P-point Maximum Envelope Manipulator SpecificationsMOTOMAN-MPP3
YR-MPP0003-A00
Parallel link (4 degrees of freedom)
3 kg
±0.1 mm
±1 arc-min or less
1300 mm (dia.) × 300 mm (H)
1 kg : 230 CPM*2
3 kg : 150 CPM
20.94 rad/s, 1200°/s-360° - +360°
0.017 kg m2
115 kg
IP65
0˚C to +40˚C
20 to 80%RH (non-condensing)
4.9 m/s2 or less
1.5 kVA
Maximum Speed
Range of Motion
Allowable Inertia (GD2/4)
Temperature
Humidity
Vibration
Others
Model
Type
Controlled Axis
Payload
Repeatability*1
Repeatability (T-axis rotation)
Range of Motion
Cycle Time for 25×305×25 mm
motion pattern
T-axis
Mass
IEC Protection Class
Ambient
Conditions
Power Requirements*3
***
123
:::
Conforms to JIS B 8432.With a limit in continuous operationsVaries in accordance with applications and motion patterns.
Note : SI units are used for specifications.
10 °
120°
120°
12
10
20
0
P-point
5°
P.C.D
.710
(With equal intervals between three holes)3×Tapped holes M16 (2 holes)(Depth: 40)
R533
10
86
750 dia.
750 dia.
1300 dia.
1300 dia.
30
0
A
T
View A
Free from corrosive gasses or
liquids, or explosive gasses
Free from excessive electrical
noise (plasma)
Tapped holes M5(4 holes)(Depth: 9)
5 dia. (1 holes)(Depth: 7)(For positioning)
+0.0120
P.C.D.31.5
3 kg payload, 1300 mm (dia.)×500 mm (H) maximum reach
Specifications are subject to change without notice for ongoing product modifications and improvements.
© 2009-2011 YASKAWA ELECTRIC CORPORATION. All rights reserved.
LITERATURE NO. KAEP C940440 24C
11-8-26Published in Japan September 2011 09-9 2
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.
Sales Department
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