Controlled by

FS100

applications, i.e. for logistic applications in machine tending, material handling, multiple stations logistics, assembling, etc. System can communicate with other machines via wireless direct connection to a master system (PLC).

Industrial Robot YASKAWA MOTOMAN MH12F:With its six degress of freedom the industrial robot YASKAWA MOTOMAN MH12F offers a flexible solution for handling, machine tending or assembly of various product types and in combination with an electric multi-purpose gripper and vision system mounted on the robot arm the user is given a flexibility to locate an exact position of the workpiece, grip it and process it further on.

Mobile Platform OTTO:Mobile platform OTTO 1500 is powered by OTTO Motors and uses a SLAM algorithm for path planning and navigation. It is fully auto-nomous vehicle that is able to localize itself within pre-defined area. In case of any obstacles occurrence, OTTO is able to find an alter-native path and reach its goal.

Safety Features:Safety of a person around the mobile robot is secured by safety-rated LiDAR sensors, two for the mobile platform itself for its posi-tioning within the area and obstacle detection and two additional ones for the robot arm for safe working area around the robot.

The combination of a MOTOMAN robot and a mobile platform OTTO offers a handling solution in wider range and allows user to perform multiple handling operations or logistics tasks within large area or various work stations. System is suitable for shop floor

Demonstration for Industry 4.0

MOBILE ROBOT YMR12

Technical Specification

Max. speed of a mobile platform 2 m/s

Used path planning method SLAM

Battery type Lithium-ion

Battery life time 3 – 5 years, expected charges 2000

Battery operation time of the platform

6 hrs at max payload, 1 min charging to get 5 min operation

Weight of total system 980 kg

Input voltage requirement for a charging station 480 V or 600 V

Positioning accuracy of the mobile platform ± 25 mm

Max. slope 5 % / 3°

Operating temperature 0° – 40° C

Wifi 802.11 – 2.4/5.0 GHz

Mobile platform accessories Docking triangle, auto-charger, manual charger, manual drive pendant (optional)

Robot type MH12F

DOF 6

Rated payload 12 kg

Rated reach 1440 mm

Moment of inertia R-axis 0.65 kg* m2

Moment of inertia B-axis 0.65 kg* m2

Moment of inertia T-axis 0.17 kg* m2

Humidity range 20 – 80 %

Safety features2xfront, 2xrear safety-rated LiDAR sensors, perceptive 360°, LED lighting, 4 emergency stop buttons

Additional Accessories

Gripper specification

Gripper type Robotiq 2-Finger-85 electric multi-purpose gripper

Gripper opening 0 – 85 mm

Object diameter for encompassing grip 43 – 85 mm

Gripper weight with mechanical coupling 900 g

Maximum recommended payload 5 kg

Grip force* 5 – 220 N

Closing speed 20 – 150 mm/s

Parallel grip repeatability 0.05 mm

Vision system

Camera type YASKAWA MS100 / MS200 / MS300

LensesSelection of MotoSight2D lenses: 4.8 mm, 9 mm, 12.5 mm, 16 mm, 25 mm, 35 mm

Software MotoSight2D

Light LED-ring lighting ”Smart Vision Lights“

* ±10 %, varies with speed and force parameters

Key benefits• Mobile platform with autonomous path planning function• YASKAWA robot MH12F with 5 kg payload of gripper• YASKAWA MS300 camera mounted on the robot arm

with SW interface for object recognition for handling and a platform position confirmation

• Kinetiq gripper with 2 fingers for various gripping methods• Multiple working stations can be used• Multiple tasks can be defined in the mission• Multiple vehicles YMR12 can be used in the application

simultaneously• 4 LiDAR SICK safety-rated sensors (2 for the platform,

2 for the robot safety zones)

suitable applications• Machine tending• Logistics on multiple workplaces• Assembly • Material transport

moBiLe roBot Ymr12

Technical data may be subject to changewithout previous notice

1805

2247

1841

658

1186

Warehouse ManageMent systeM

Factory PLcnIMBus PLcnIMBusFleet Manager

station 1 station 2 station 3robot 1 robot 2 robot 3

moBiLe roBot Ymr12

All dimensions in mmTechnical data may be subject to changewithout previous notice

Mounting options: Floor, wall, ceiling

Protection class: IP54/67

199 94.5

198.5

45

R410170°

170°

R1440

2613

4 x M6, depth 14

Ø 5

0

5

Ø 6

2

56

22.5

8 x M4,depth 8

Ø 4, depth 6

128

128

1734

299

361

450

614

200

100 155 640 100

84

705

777

2511

0

410

144020

6

1129 0

900155°

848

606

Working range Point P

P

B

C

A

B

S

T

R

L

U

2 x Air

Internal user wiring connectorMedia connector

2 x 16 Ø12 Ø

60

102

153±

0.113

2±0.1

60

260

240 132±0.1

300

260

292

300

100±0.1 102±0.1

153±0.1

130±

0.1

4 x 18 Ø

Please notewall mounting option:+/– 30° S-axis limit

Please note ceiling mounting option:Depends on B-axis position

motomaNmh12f

moBiLe roBot Ymr12

All dimensions in mmTechnical data may be subject to changewithout previous notice

Camera & Software motoSight2DYASKAWA Vision System

aDaPtiVe griPPer2-FINGER 85

Technical data YASKAWA Cameras

Model Resolution Processor Speed

Frame/ Second Vision Tools

MS100 800 x 600 1 x Base model 102

Limited Tool Set Pattern, Edge, Blob, Circle, Curve, Histogram, Geometry, Image Filters, Standard Calibration (9-Points)

MS200 800 x 600 3 x Base model 102

Full Tool Set Pattern, Edge, Blob, Circle, Curve, Histogram, Geometry, Image Filters, Standard Calibration (9-Points) PatMax (Geometric pattern matching technology), Advanced Calibration (non-linear calibration), and caliper tool, OCR, OCV; 2D Matrix and Barcode reading

MS300 1280 x 1024 6 x Base model 60

High Resolution & Full Tool Set Pattern, Edge, Blob, Circle, Curve, Histogram, Geometry, Image Filters, Standard Calibration (9-Points) PatMax (Geometric pattern matching technology), Advanced Calibration (non-linear calibration), and caliper tool, OCR, OCV; 2D Matrix and Barcode reading

Encompassing grip Parallel grip

22[0.9]

98[3.9]

85[3.3]

Working range

149[5.9]

Ø 75[3.0]

Units: mm[ in.]

moBiLe roBot Ymr12

Please request detailed drawings at robotics@yaskawa.eu.com – Mobile Robot YMR12, A-06-2016, A-No. 180785

robotics@yaskawa.eu.comwww.yaskawa.eu.com

YASKAWA HeadquartersYASKAWA Europe GmbHRobotics Division Yaskawastraße 1D-85391 AllershausenTel. +49 (0) 8166/90-0Fax +49 (0) 8166/90-103

YASKAWA ACADEMY and sales office FrankfurtYASKAWA Europe GmbHRobotics Division Hauptstraße 185D-65760 EschbornTel. +49 (0) 6196/77725-0Fax +49 (0) 6196/77725-39

yasKaWa GRoupA YASKAWA Austria

Schwechat/Wien +43(0)1-707-9324-15

CZ YASKAWA Czech s.r.o.Rudná u Prahy +420-257-941-718

E YASKAWA Ibérica, S.L.Gavà/Barcelona +34-93-6303478

F YASKAWA France SARL Saint-Aignan-de-Grand-Lieu +33-2-40131919

FIN YASKAWA Finland OyTurku +358-(0)-403000600

GB YASKAWA UK Ltd.Banbury +44-1295-272755

I YASKAWA Italia s.r.l.Torino +39-011-9005833

IL YASKAWA Europe Technology Ltd.Rosh Ha’ayin +972-3-9004114

NL YASKAWA Benelux B.V. Son +31-40-2895500

PL YASKAWA Polska Sp. z o.o.Wrocław +48-71-7928670

RUS YASKAWA Nordic ABMoskva +46-480-417-800

SE YASKAWA Nordic ABTorsås +46-480-417-800

SI YASKAWA SloveniaRibnica +386-1-8372-410

TR YASKAWA Turkey Elektrik Ticaret Ltd. Sti.İstanbul +90-216-5273450

ZA YASKAWA Southern Africa (PTY) LtdJohannesburg +27-11-6083182

DistRibutoRsBG Kammarton Bulgaria Ltd.

Sofia +359-02-926-6060

CH Messer Eutectic Castolin Switzerland S.A.Dällikon +41-44-847-17-17

DK Robotcenter DanmarkLøsning +45 7022 2477

EE RKR Seadmed OÜ Tallinn/Estonia +372-68-35-235

GR Gizelis Robotics Nea Kifissia +30-2106251455

H Flexman Robotics KftBudapest +36-30-9510065

LT Profibus UABPanevezys +370-45-518575

N Skala Robotech AS Lierstranda +47-32240600

PT ROBOPLAN LdaAveiro +351-234 943 900

RO Sam Robotics srlTimisoara +40-720-279-866

RO MPL Automation S.R.L.Satu Mare +40 (0) 261 750 741