turntable/positioner motopos series -...

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

R009QMS Accreditation

Certified for ISO9001 and ISO14001

Turntable/Positioner

MOTOPOS Series

Keeping Up with the Robot

Do you get irritated with your turntable/positioner, whose

speed and accuracy can’t keep up with the robot?

YASKAWA has developed turntables/positioners to perfectly

coordinate with the high performance of our robots.

High SpeedMaximum rotational speed: 3.14 rad/s (180˚/s) for MOTOPOS-D250BThe MOTOPOS-S1000B, a positioner with a 1000-kg payload, improves productivity with a maximum rotational speed of 1.92 rad/s (110˚/s), the fastest of its class.

High PrecisionA single controller that exclusively controls MOTOMAN enables highly accurate coordinated operation by applying a control system designed specially for MOTOMAN robots and MOTOPOS.

Features

Wide Variety of Products

The robot and MOTOPOS weld in coordination at a constant speed, allowing the workpiece and the torch to keep the best posture at all times. This reduces partial penetration and distortion, and greatly improves welding quality.

Coordinated welding with MOTOPOS and an arcwelding package from the MOTOPAC-W series�Coordinated welding with MOTOPOS and an arcwelding package from the MOTOPAC-W series�

�: The MOTOPAC-W series is a welding package that includes a robot, a welding power supply, and a torch.

Example

Fifteen models are available to help you find the optimum turntable or positioner to improve the quality and increase the efficiency of your production line.Payloads: 200 kg to 7500 kgNumber of axes: 1 to 3Application types: standard, high speed, high load, and skyhook

Num

ber

of A

xes

3

2

1

75005000400020001000 1500500200 250 700

Payload［kg］

片持ち仕様片持ち仕様 Skyhook

D700B

D200B-C00 D500B-C00 D1500B-C00D500B-C01(Compact)

S250B S500B T2000BS1000BT4000B

(High Speed)T5000B T7500B

(High Load)

D250B D500B

S500B-A30(Low Price)

D500B-C10

2

Standard

Standard

SpecificationsDimensions in mm

With 2000-kg payload for use with large, medium-weight workpieces.

With 5000-kg payload for use with large, heavy workpieces.

Payload

Model

Allowable Moment

Allowable Moment of Inertia (GD2/4)

Rotational Angle

Max. Rotational Speed

Repeatability

Installation Method

Applicable Controller

Approx. Mass

Internal I/O Wire

Internal Air Hose

2000 kg

YR-MPT2000B-A006125 N·m

2250 kg·m2

0 to 270˚�1.40 rad/s (80˚/s)

±0.3 mm (R=1000 mm)

Floor mounted

NX100, DX100

450 kg

−−

�: For safety, a look mechanism is provided at 0 ,̊ 90 ,̊ 180 ,̊ and 270˚.

Note: Secondary terminals for welding are provided as a standard feature.



Payload

Model

Allowable Moment


Rotational Angle


Repeatability

Installation Method


Approx. Mass

Internal I/O Wire

Internal Air Hose

5000 kg

YR-MPT5000B-A007350 N·m

4500 kg·m2

0 to 270˚�1.05 rad/s (60˚/s)

±0.3 mm (R=2000 mm)

Floor mounted

NX100, DX100

950 kg

−−8-M16 Tapped Holes

1-axis, 2000 kg PayloadMOTOPOS-T2000B

1-axis, 5000 kg PayloadMOTOPOS-T5000B

Stopper Cylinder+0.018

0

8-M16 Tapped Holes2-16 Reamed Holes

View A

A

800

340

340

1185(1257)

340340385

437

392

60

( 959

)

(1273)

44

500±

0.02

500±

0.02

P.C.D. 670P.C.D. 670

Limit Switch for Positioning

Limit Switch for Positioning

Overrun Limit SwitchTerminal Box

M8 Stainless Boltsfor Grounding

Cable for Jig, Hose Hole

OverrunLimit Switch

6-25 Dia. Holes Air InletPT3/8"

Connector for InternalUser I/O Wiring Harness:

MS3102A 20-29PW(for Limit Switch, Solenoid Valve)

Matching Connector:MS3106A 20-29SW(Provided by Users)

Stopper Cylinder

4-M20 Eye Boltsfor Transfer

2-16 ReamedHoles, 25L

+0.0180

800 Dia.

80 Dia.300 Dia.+0.052

0


A

View A

Home Position Key

Terminal Box

700

290

290

385

310 275 255960

(1014)

60

770

450

450±

0.02

0.02

450±

0.02 P.C.D. 450

P.C.D. 45039

5

(1032)




OverrunLimit Switch


55

6-25 Dia. Holes

Cable for Jig, Hose Hole

Limit Switch forPositioning



Air InletPT3/8"

60 Dia. Wiring Holes

17 Dia. Union Holesfor Bulkhead

620

D

ia.

+0.0

44

0

74 Dia.

Grease Inlet PT1/8"

3

1-axis, 4000 kg PayloadHigh SpeedMOTOPOS-T4000B

1-axis, 7500 kg PayloadHigh LoadMOTOPOS-T7500B

OverrunLimit Switch

800 Dia.

80 Dia.

12-M16 Tapped Holes, 38LLimit Switch

for Positioning

Fastest of its class! High-speed positioner with maximum rotational speed of 2.1 rad/s (120˚/s).

High-load positioner with 7500-kg payload for use with large, heavy workpieces.

�: Rotary joint is also available as an option.Endless rotation is also available as an option.

Payload

Model

Allowable Moment


Rotational Angle


Repeatability

Installation Method


Approx. Mass

Internal I/O Wire

Internal Air Hose

4000 kg

YR-MPT4000B-A0029106 N·m

2025 kg·m2

0 to 360˚�2.1 rad/s (120˚/s)

± 0.3 mm (R=1000 mm)

Floor mounted

NX100, DX100

850 kg

−−




Payload

Model

Allowable Moment


Rotational Angle


Repeatability

Installation Method


Approx. Mass

Internal I/O Wire

Internal Air Hose

7500 kg

YR-MPT7500B-A009800 N·m

11250 kg·m2

0 to 270˚�1.05 rad/s (60˚/s)

± 0.3 mm (R=1000 mm)

Floor mounted

NX100, DX100

950 kg

−−

300 Dia.+0.0520

View A

A4

P.C.D.430430

P.C.D.430

430±

0.02

443

0±0.

02

435

462

800

340

340

(1257)1185

385 340 340




Terminal Box +0.01806-25 Dia. Holes 2-16 Reamed Holes, 25L

60 Dia. Wiring Holes

Grease ExhaustPort PT1/8"

17 Dia. Union Holesfor Bulkhead

300 Dia.+0.0520

460 Dia.

80 Dia.

View A

A

450 ±

0.02 P.C.D

P.C.D.670

P.C.D.670

Terminal Box

Dog to Determine Overrun (270˚)

Stopper Cylinder

Air Inlet PT3/8"

450 ±

0.02

(1273)

465

509

(1257)1185

800

340

340

( 991

)

385 340 340

4

Connector for InternalUser I/O Wiring Harness: MS3102A 20-29PW(for Limit Switch, Solenoid Valve)


6-25 Dia. Holes 4-M20 Eye Boltsfor Transfer


+0.01802-16 Reamed

Holes, 25L


16-M16 Tapped Holes, 38L



4

1-axis, 500 kg PayloadStandardMOTOPOS-S500B-A30

1-axis, 250/500 kg PayloadStandardMOTOPOS-S250B/S500B

2-12 Dia. Reamed Holes(for a Jig Positioning Pin)

View A

A

Dimensions in mm(YR-MPS500B-A30)

Low price achieved by more compact main unit and optional mounting base.

Specifications

Payload

Type

Model

Allowable Overhang

Rotational Angle


Allowable Moment


Repeatability

Mounting Direction


Approx. Mass

Internal I/O Wire

Internal Air Hose

Standard

YR-MPS500B-A30

−−

With Rotary Joint

YR-MPS500B-B30

6 cables

2 hoses

500 kg

340 mm (from the rotating

plate with a 500 kg load)

± 360˚� 2.18 rad/s (125˚/s)

510 N�m

35 kg�m2

± 0.1 mm (R=250 mm)

Free

NX100, DX100

175 kg (with the standard

mounting of 624 mm)

�: Endless rotation is available as an option.

+

-

200

80 40

200

8060

4-10 Dia. Drilled Holes

110 170130 20

85±0.0520

200

200

220

440

220

4-17.5 Dia. Holes

340±0.02

P.C.D.425

424

20

624

Dimensions in mm Specifications

High-speed positioner with hollow-shaft speed reducer for easy cable installation.

Payload

Type

Model

Allowable Overhang

Rotational Angle


Allowable Moment

Allowable Moment

of Inertia (GD2/4)

Repeatability

Mounting Direction


Approx. Mass

Internal I/O Wire

Internal Air Hose

Standard

YR-MPS250B-A00

−−

With Rotary Joint

YR-MPS250B-B00

6 cables

2 hoses

Standard

YR-MPS500B-A00

−−

With Rotary Joint

YR-MPS500B-B00

6 cables

2 hoses

250 kg



± 370˚�2

2.62 rad/s(150˚/s)

196 N�m

7.7 kg�m2

±0.1 mm (R=250 mm)

Free

NX100, DX100

110 kg

500 kg



± 370˚�2

2.18 rad/s(125˚/s)

510 N�m

35 kg�m2

±0.1 mm (R=250 mm)

Free

NX100, DX100

150 kg

�2: Endless rotation is available as an option.

�1: Only for model YR-MPS250B-B00

A

View A

P.C.D.280

203±

0.1

340

7

365

59

403

200

200

175

175

320

4027025

2-Air InletPT3/8" �1

Grease Nipple A-PT1/8


4-18 Dia. Holes

420

Dia

.

60 D

ia.

Hol

low

58 D

ia.

250±0.02

2-12Reamed Holes

+0.0180

6-M12Tapped Holes

Note: For more information on models with different dimensions, contact your Yaskawa representative.


(YR-MPS250B-A00)

400±

0.02

( Rea

med

Hol

e)

2-10 Dia. Reamed Holes

100

D

ia.

+0.

035

0

+0.0150

+0.0180

Mounting Base(optional)

Relay Box

6-M12 Tapped Holes (for a Jig Mounting Bolt)

460

Dia

.

70 D

ia.

Internal Lead

Grease NipplePT3/8

60 D

ia.

( Cen

ter

Hol

e)


Notes:1

2

Secondary terminals for welding are provided as a standard feature.A mounting base is optional. Contact your Yaskawa representative for mounting base of different height.

Connector for InternalUser I/O Wiring Harness�1 : MS3102A 18-1P

Matching Connector:MS3106A 18-1S(Provided by Users)

5

1-axis, 1000 kg PayloadStandardMOTOPOS-S1000B


View A

A

Dimensions in mm(YR-MPS1000B-A00)

P.C.D.350

180±0.05

460±

0.1

210

670

40

40

500

450

130

418

397 3

89

13070

400

P.C.D.350

350±0.02

450±

0.02

6-18 Drilled Holes for Mounting

(507)

+0.01502-10 Dia.

Reamed Holes

+0.01802-16 Dia.

Reamed Holes, 20L

6-M16 Tapped Holes

493.

2 D

ia.

100

D

ia.

+0.

035

0

75 D

ia.

75 D

ia.

Specifications

Payload

Type

Model

Allowable Overhang

Rotational Angle


Allowable Moment


Repeatability

Mounting Direction


Approx. Mass

Internal I/O Wire

Internal Air Hose

Standard

YR-MPS1000B-A00

−−

With Rotary Joint

YR-MPS1000B-B00

6 cables

2 hoses

Note:

High-speed, high-torque positioner with hollow-shaft speed reducerfor easy cable installation for use with large, medium-weight workpieces.

1000 kg



± 180˚�2

1.92 rad/s(110˚/s)

2450 N�m

200 kg�m2

± 0.2 mm (R=250 mm)

Free

NX100, DX100

350 kg

Secondary terminals for welding are provided as a standard feature.

2-Air InletPT3/8" �1

Connector for InternalUser I/O Wiring Harness�1: JL05-2A 18-1P

Matching Connector:JL05-6A 18-1S(Provided by Users)

�2: Endless rotation is available as an option.

�1: Only for model YR-MPS1000B-B00

6

Dimensions in mm Specifications

2-axis, 250/500 kg PayloadStandardMOTOPOS-D250B/D500BWith 34 cables (includes multi-signal cable) for advanced motion control.

2-axis, 700 kg PayloadStandardMOTOPOS-D700BHigh-speed, compact positioner with 700-kg payload.


Tilting

Air InletPT3/8"

+0.0180

+0.0180

500 Dia.


2-13 Dia.Reamed Holes

6-M12 Tapped Holes (Depth: 22)

2-12 Dia. Reamed Holes(Depth: 20)

200 P.C

.D.450

P.C.D

.450

530

5

883

50

730

250

500

250

320±

0.05

450

340±0.1

630 50

Tilting

200

A

A

View A (B00)

Air InletPT3/8"

Connector for InternalUser I/O Wiring Harness:JL05-2A28-21PCW-F0

Matching Connector:JL05-6A28-21SCW-F0(Provided by Users)

View A (A00)

2-Air InletPT3/8"

Connector for InternalUser I/O Wiring Harness:JL05-2A18-1PC-F0

Matching Connector:JL05-6A18-1SC-F0(Provided by Users)

View A


Matching Connector:JL05-6A28-21SCW-F0(Provided by Users)M8 Tapped Holes

M10 Tapped Holes

4-18 Drilled Holesfor mounting

320±

0.05

550

500

556±

0.1

103±0.1

28± 0

.128

± 0.1 340±0.1340±0.1

103±0.1562±0.05662765

5

570

768±0.1

(1043)

50 53

500±

0.05

500±

0.05

2 Pins

P.C.D.45

0

P.C.D.45

0


+0.0180

M8 Tapped Holes

M10 Tapped Holes

2 Pins

6-M12 Tapped Holes2-M12 Tapped Holes

2-12Reamed Holes

4-18 Dia.Holes

500 Dia.

500 Dia.300 Dia.+0.0520

500 Dia.300 Dia.+0.052

0

250 kg

3.14 rad/s (180˚/s)

196 N·m

17 kg·m2

± 135˚2.09 rad/s (120˚/s)

539 N·m

50 kg·m2

± 0.1 mm (R=250 mm)

Free

NX100, DX100

220 kg

500 kg

2.80 rad/s (160˚/s)

392 N·m

44 kg·m2

± 135˚1.40 rad/s (80˚/s)

1274 N·m

200 kg·m2

± 0.1 mm (R=250 mm)

Free

NX100, DX100

240 kg

Payload

Type

Model

Repeatability

Mounting Direction


Approx. Mass

Internal I/O Wire

Internal Air Hose

Rotational Angle


Allowable Moment

Allowable Moment of

Inertia (GD2/4)

Tilted Angle

Max. Tilted Speed

Allowable Moment

Allowable Moment

Inertia (GD2/4)

Standard

YR-MPD250B-A00± 200˚

34 cables

1 hose

With Rotary Joint

YR-MPD250B-B00± 370˚�

6 cables

2 hoses

Standard

YR-MPD500B-A00± 200˚

34 cables

1 hose

With Rotary Joint

YR-MPD500B-B00± 370˚�

6 cables

2 hoses


Rot

atio

n A

xis

Tilt

ed A

xis


(YR-MPD250B-A00)

Rotational Angle


Allowable Moment

Allowable Moment

of Inertia (GD2/4)

Tilted Angle

Max. Tilted Speed

Allowable Moment

Allowable Moment

Inertia (GD2/4)

Payload

Type

Model

Repeatability

Mounting Direction


Approx. Mass

Internal I/O Wire

Internal Air Hose

700 kg

Standard

YR-MPD700B-A00± 200˚�2.80 rad/s (160˚/s)

686 N�m

70 kg�m2

± 90˚1.40 rad/s (80˚/s)

2842 N�m

250 kg�m2

± 0.1 mm (R=250 mm)

Free

NX100, DX100

370 kg

34 cables

1 hose

Rot

atio

n A

xis

Tilt

ed A

xis



7

2-axis, 500 kg PayloadSkyhookMOTOPOS-D500B-C0Two models are available: Standard and Compact with short arm.

2-axis, 200 kg PayloadSkyhookMOTOPOS-D200B-C00

View A

A

AA

View A-A

P.C.D.280

220


250±

0.05

715

3044

030

725

5

440210

490

R493

8014

717

0±0.

0521

0

M10 Tapped Hole for Grounding

30 30

Turntable

M10 Tapped Holefor Grounding

100 Dia.

P.C.D

.250

Baseplate

R680(

R493)�

665(

475)�

390(

200)�

962(

927)�

275

P.C.D.280

15

20˚

20˚

520

1272

500

(92)

30 30220

220 220

520

520

460

(1363)


Matching Connector:JL05-6A18-1SCW-F0(Provided by Users)

DeviceNet Connector(XS2M-D824-4)Matching Connector(XS2W)

Air Inlet (PT3/8”)

Air Inlet (PT3/8”)

Pin Terminal for Installation 7-PC2005-W(Lead Length: 200 mm)DeviceNet Connector XS2G-D4S7

75 D

ia.

400 Dia.

350 Dia.

400 Dia.


Compact YR-MPD500B-C01

Standard

YR-MPD500B-C00

AWG24 × 2 cables,

AWG22 × 2 cables (Only one cable is shielded.)

Rotational Angle


Allowable Moment

Allowable Moment

of Inertia (GD2/4)

Tilted Angle

Max. Tilted Speed

Allowable Moment

Allowable Moment

of Inertia (GD2/4)

Payload

Type

Model

Repeatability

Mounting Direction


Approx. Mass

Internal I/O Wire

Internal Air Hose

500 kg

± 360˚ (Endless)

2.18 rad/s (125˚/s)

421.4 N�m

50 kg�m2

± 180˚1.92 rad/s (110˚/s)

490 N�m

200 kg�m2

± 0.2 mm (R=250 mm)

Floor mounted

NX100, DX100

700 kg

− −

Rotational Angle


Allowable Moment

Allowable Moment

of Inertia (GD2/4)

Tilted Angle

Max. Tilted Speed

Allowable Moment

Allowable Moment

of Inertia (GD2/4)

Payload

Model

Repeatability

Mounting Direction


Approx. Mass

Internal I/O Wire

Internal Air Hose

200 kg

YR-MPD200B-C00±200˚3.14 rad/s (180˚/s)

196 N�m

17 kg�m2

± 135˚1.75 rad/s (100˚/s)

686 N�m

35 kg�m2

± 0.1 mm (R=250 mm)

Floor mounted

NX100, DX100

330 kg

0.5 mm2 ×

6 cables

(shielded)

2 hoses

�: Values in parenthesis are for the YR-MPD500B-C01.

442.4 Dia.380 Dia.82 Dia.

18 Dia.

4-M12 Tapped Holes, 20L(for Jig Bolts)

6-M12 Tapped Holes, 24L(for Jig Bolts)

4-18 Dia. Holes

+0.0350

0 -0.018

2-18 Dia. Pins(for Jig Positioning)

+0.0180

64 Dia. 2-12 Reamed Holes+0.0180

6-22 Dia. Holes 2-13 Holes(for Pin Positioning)

+0.0180

8-M12Tapped Holes

300 Dia.

Rot

atio

n A

xis

Tilt

ed A

xis

Rot

atio

n A

xis

Tilt

ed A

xis



Skyhook makes it easy to weld difficult pieces such as mufflers.

8



Rotational Angle


Allowable Moment

Allowable Moment of

Inertia (GD2/4)

Tilted Angle

Max. Tilted Speed

Allowable Moment

Allowable Moment of

Inertia (GD2/4)

Payload

Model

Repeatability

Mounting Direction


Approx. Mass

Internal I/O Wire

Internal Air Hose

1500 kg

YR-MPD1500B-C00± 200˚2.18 rad/s (125˚/s)

1960 N�m

305 kg�m2

± 180˚1.57 rad/s (90˚/s)

2940 N�m

365 kg�m2

± 0.2 mm (R=250 mm)

Floor mounted

NX100, DX100

3500 kg

− −



Turntable slides with ease on servo track.

Positioner with two axes to change workpiece height.

Counterweight

R1176

473

357.1 848.5(2705.6)

1500

293

P.C.D.450

450±

0.02

6-24 Dia. Holes for Anchor Bolts6-M20 Tapped Holes for Jack Bolts

6-M16Tapped Holes(Depth: 30)

1500 848.5

1808

100

100

550

301440

790

550

( 263

0)( 1

500)

5010

0

2-16 Reamed Holes(Depth: 30)

+0.0180

600 Dia.100 Dia.+0.035

0

Rotational Angle


Allowable Moment

Allowable Moment of

Inertia (GD2/4)

Tilted Angle

Max. Tilted Speed

Allowable Moment

Allowable Moment of

Inertia (GD2/4)

Payload

Model

Max. Speed of Traverse Axis

Repeatability

Mounting Direction


Approx. Mass

Internal I/O Wire

Internal Air Hose

500 kg

YR-MPD500B-C10± 360˚�2.18 rad/s (125˚/s)

421.4 N�m

50 kg�m2

± 180˚1.92 rad/s (110˚/s)

490 N�m

200 kg�m2

30 m/min

± 0.2 mm (R=250 mm)

Floor mounted

NX100, DX100

1400 kg

− −

10

590

22022080

650

600600

(1514)

(1933)

(666)St600

900 614

200

390414

200214 955

8-M12 Tapped Holes(Depth: 23)

20˚

20˚

P.C.D

.250

250±

0.02

650

220±0.02 1906-22 Dia. Holes

AA

( 102

0)( 7

70)

502±

0.1

268±

0.0227

( 15.

4)

75 D

ia.( O

peni

ng)

60 Dia.(Opening)

480 Dia.

(847)

(R755)

590±

0.05

2-12 Dia. Reamed Holes(Depth: 23)

+0.0180

100 Dia.+0.0350

100 Dia.+0.0350

2-13 Dia.Reamed Holes

+0.0180

View A-A

Turntable

Baseplate

Rot

atio

n A

xis

Tilt

ed A

xis

Rot

atio

n A

xis

Tilt

ed A

xis




9

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

© 1995-2011 YASKAWA ELECTRIC CORPORATION. All rights reserved.

MOTOPOS Series

LITERATURE NO. KAE-C945-431G

11-8-26Published in Japan September 2011 95-9 11

turntable/positioner motopos series -...

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