ES200RDES200RD• SPOT WELDING •

SOLUTIONS IN MOTION®

Fast, Flexible and Powerfuln High-speed ES165RD and ES200RD

“Expert Spot” robots are specifically designed to deliver unmatched performance and reliability in spot welding applications.

n Shelf-mounted ES165RD and ES200RD models feature 3,140 mm horizontal reach; 4,782 mm vertical reach; ±0.2 mm repeatability. Shelf-mounting saves floorspace, expands work envelope and improves access to parts.

n To increase cable life, enhance safety and reduce teaching time, servo gun cables and air and water lines are routed through robot base and upper arm to robot wrist.

n Compact, slim design allows robot to reduce cycle time and reach into confined spaces, improving system productivity.

n Process-specific design, together with patented multiple robot controller, ensures maximum productivity in spot welding applications.

n Floor-mounted versions (ES165D and ES200D) available.

Payloads: 151.5 kg (ES165RD) 186.5 kg (ES200RD)

TOP REASONS TO BUYn Proven integrated cable harness

for power and utilities increases cable life and reduces life cycle cost

n Industry’s first one-year spot harness warranty

n Integrated control for spot guns with servo-motor drives improves weld quality

n DX100 can control up to 8 robots and reduces cycle time due to improved motion control of arm and gun

n ES165RD and ES200RD robots can be combined with VS50 and MS80 models for high-density installations with improved throughput.

DX100 Controllern Patented multiple robot control supports

up to 8 robots/72 axes.n Windows® CE programming pendant with

color touch screen and USB interface.n Integrated pendant programming

applications for Medar and Nadex timers.n Faster processing speeds for smoother

interpolation. Quicker I/O response. Accelerated Ethernet communication.

n Extensive I/O suite includes integral PLC and touch screen HMI, 2,048 I/O and graphical ladder editor.

n Supports all major fieldbus networks, including EtherNet/IP, DeviceNet, Profibus-DP and many others.

n Compliant to ANSI/RIA R15.06-1999 and other relevant ISO and CSA safety standards. Optional Category 3 functional safety unit.

BASE CONNECTORS

INTEGRATED CABLE PACKAGE

WELD CONTROL ON PENDANT (OPTIONAL)

ES165RDES165RDWITH SPOT HARNESSWITH SPOT HARNESS

ES165RD/ES200RD ROBOTS ES200RD robot shown. ES165RD dimensions are same, except where noted. All dimensions are metric (mm) and for reference only. Please request detail drawings for all design/engineering requirements.

Dimensions (mm) 800 (w) x 1,000 (h) x 650 (d) (31.5" x 39.4" x 25.6")Approximate Mass 250 kg max. (551.3 lbs)Cooling System Indirect coolingAmbient During operation: 0° to 45° C (32° to 113° F) Temperature During transit and storage: -10° to 60° C (14° to 140° F)Relative Humidity 90% max. non-condensingPrimary Power Requirements 3-phase, 240/480/575 VAC at 50/60 HzDigital I/O Standard I/O: 40 inputs/40 outputs consisting of 16 system inputs/ NPN-Standard 16 system outputs, 24 user inputs/24 user outputs PNP-Optional 32 Transistor Outputs; 8 Relay Outputs Max. I/O (optional): 2,048 inputs and 2,048 outputsPosition Feedback By absolute encoderProgram Memory JOB: 200,000 steps, 10,000 instructions CIO Ladder Standard: 15,000 steps Expanded: 20,000 stepsPendant Dim. (mm) 169 (w) x 314.5 (h) x 50 (d) (6.7" x 12.4" x 2")Pendant Weight .998 kg (2.2 lbs)Interface One Compact Flash slot; One USB port (1.1)Pendant Playback Teach/Play/Remote Keyswitch selector Servo On, Start, Hold, and Buttons Emergency Stop ButtonsProgramming Language INFORM III, menu-driven programmingMaintenance Functions Displays troubleshooting for alarmsNumber of Robots/Axes Up to 8 robots, 72 axesMulti Tasking Up to 16 concurrent jobs, 4 system jobsFieldbus DeviceNet Master/Slave, AB RIO, Profibus, Interbus-S, M-Net, CC Link, EtherNet IP/SlaveEthernet 10 Base T/100 Base TXSafety Dual-channel Emergency Stop Pushbuttons, 3-position Enable Switch, Manual Brake Release Meets ANSI/RIA R15.06-1999, ANSI/RIA/ISO 10218-1-2007 and CSA Z434-03*See DX100 Controller data sheet (DS-399) for complete specifications

DX100 CONTROLLER SPECIFICATIONS*

450

100

85

20575

2293

740 1150 250

153

1225

250 (225)

91

3140

1932

2850

8X M12 X 1.75 X x24

POINT PWORKINGRANGE

POINT P

R3140R1000

R873

365

555

R1232

290

350

353

735640

540

290290

893640540

290

2X Ø20 THRU

8X Ø22 THRU 2X Ø16 THRU

4X M8 X 1.25 X x15

290290

385 (360)VIEW A

VIEW D

AIR EXHAUSTPT3/8 W/ PIPE PLUG

USER I/O CONNECTORJL05-2A22-14SC (WITH CAP).MATING CONNECTOR JL05-6A22-14PWILL NOT BE SUPPLIED.

EXTERNAL AXIS CONNECTOR(ENCODER CABLE CONNECTIONS)JL05-2A20-29SC (WITH CAP).MATING CONNECTOR JL05-6A20-29PWILL NOT BE SUPPLIED.

EXTERNAL AXIS CONNECTOR(POWER CABLE CONNECTIONS)JL05-2A18-1SC (WITH CAP).MATING CONNECTOR JL05-6A18-1PWILL NOT BE SUPPLIED.

120

40

255

A

B

DC

NOTE: DIMENSIONS IN PARENTHESES ARE FOR ES165RD

VIEW B

VIEW C

WITH PIPE PLUGAIR INLET PT 3/8”

WELDING POWER CABLE CONNECTOR(BASE SIDE)COOLANT HOSE CONNECTOR (BASE SIDE)

INTERNAL USER WIRING CONNECTOR (BASE SIDE) TYPE IS JL05-2A28-21PC (JAE, WITH CAP) MATING CONNECTOR TYPE IS JL05-6A28-21S (JAE, PROVIDED BY USERS)

2BC

1BC

S1AIR

3BC

M10 TAPPED HOLES(12 HOLES) DEPTH: 12 MM

9 DIA. (2 HOLES)DEPTH: 8 MM

10 DIA. (2 HOLES), DEPTH: 8MM

P.C.D.92

P.C.D.125

196

4025

5

M8 TOPPED HOLES (4HOLES), DEPTH:12 MM THE USAGE OF THIS TAPPED HOLEMAY BE LIMITED DUE TO THE SIZE OF ITS EXTERNAL EQUIPMENT. PLEASE CHECK THE DIMENSION OF THE EQUIPMENT BEFOREHAND.

BE CAREFUL TO THEPERIPHERAL INTERFERENCE SINCEITS MOVEMENT IS SUBJECTTO THE ARM POSTURE

(367.7)555

120133

Ø299.2197

274.9 260(231)

www.motoman.com

TECHNICAL SPECIFICATIONS SUBJECT TO CHANGE WITHOUT NOTICEDS-408-D ©2013 YASKAWA AMERICA, INC. APRIL 2013

YASKAWA AMERICA, INC. n MOTOMAN ROBOTICS DIVISION100 AUTOMATION WAY, MIAMISBURG, OHIO 45342

TEL: 937.847.6200 n FAX: 937.847.6277MOTOMAN IS A REGISTERED TRADEMARK

WINDOWS IS A REGISTERED TRADEMARK OF MICROSOFT ALL OTHER MARKS ARE THE TRADEMARKS AND

REGISTERED TRADEMARKS OF YASKAWA AMERICA, INC.

ROBOT SPECIFICATIONSRobot ES165RD ES200RD

Structure Vertical jointed- arm type

Vertical jointed- arm type

Controlled Axes 6 6Payload 151.5 kg (344.1 lbs) 186.5 kg (411.2 lbs)Vertical Reach 4,782 mm (188.3") 4,782 mm (188.3")Horizontal Reach 3,140 mm (123.6") 3,140 mm (123.6")Repeatability ±0.2 mm (0.008") ±0.2 mm (0.008")

Maximum Motion Range

S-Axis (Turning/Sweep) L-Axis (Lower Arm) U-Axis (Upper Arm) R-Axis (Wrist Roll) B-Axis (Bend/Pitch/Yaw) T-Axis (Wrist Twist)

±180° +80°/-130° +208°/-112° ±360° [±205°] ±130° [±120°] ±360° [±180°]

±180° +80°/-130° +208°/-107° ±360° [±205°] ±125° [±120°] ±360° [±180°]

Maximum Speed

S-Axis L-Axis U-Axis R-Axis B-Axis T-Axis

105°/s 105°/s 105°/s 175°/s 150°/s 240°/s

95°/s 90°/s 95°/s 120°/s 120°/s 190°/s

Approximate Mass 1,540 kg (3,395.7 lbs) 1,570 kg (3,461.9 lbs)Brakes All axes All axesPower Rating 10 kVA 10 kVA

Allowable Moment

R-Axis B-Axis T-Axis

868 N • m 868 N • m 490 N • m

1,291 N • m 1,291 N • m 715 N • m

Allowable Moment of Inertia

R-Axis B-Axis T-Axis

85 kg • m2

85 kg • m2

45 kg • m2

118 kg • m2

118 kg • m2

80 kg • m2

Specifications in [ ] are for robot with integrated spot harness.