2024年4月5日发(作者：)

MULTIPLE ROBOT CONTROL

MATERIAL HANDLING

PACKAGING

TOP REASONS TO BUY

n

Exceptionally fast robot with

wide range of motion provides

flexibility

n

Small interference radius

reduces floorspace

requirements

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High repeatability provides

precision needed for a wide

variety of applications

SOLUTIONS IN MOTION

®

HP20D-SERIES

HP20D HP20RD HP20D-6

CUTTING • DISPENSING • HANDLING • MACHINE TENDING

MATERIAL REMOVAL • PACKAGING • PRESS TENDING • WELDING

Model Options:

20 kg Payload (HP20D and HP20RD)

6 kg Payload (HP20D-6)

Shelf-Mount (HP20RD)

Versatile, High-Speed Robots

n Compact design and advanced collision

n Fast, versatile six-axis HP20D, extended-

avoidance features with multiple robot

reach HP20D-6 and shelf-mount HP20RD

control allow up to eight robots (72 axes)

robots offer superior, high-speed performance

to be used together to maximize

in handling, machine tending, packaging,

productivity while minimizing overall

cutting and dispensing applications.

floorspace requirements.

n HP20D model: 20 kg payload; 1,717 mm

n Floor-, wall- or ceiling-mounted versions

horizontal reach; 3,063 mm vertical reach;

available for the HP20D and HP20D-6

±0.06 mm repeatability.

models.

n Extended-reach HP20D-6 version for

DX100 Controller

applications requiring a larger work

envelope: 6 kg payload; 1,915 mm

n Patented multiple robot control supports

horizontal reach; 3,459 mm vertical reach;

up to 8 robots/72 axes.

±0.06 mm repeatability.

n Windows

®

CE programming pendant with

n The shelf-mounted HP20RD is designed

color touch screen and USB interface.

for injection molding and other similar

n Faster processing speeds for smoother

applications: 20 kg payload; 2,017 mm

interpolation. Quicker I/O response.

horizontal reach; 3,134 mm vertical reach;

Accelerated Ethernet communication.

±0.06 mm repeatability.

n Extensive I/O suite includes integral PLC

n Powerful design with high moment of

and touch screen HMI, 2,048 I/O and

inertia ratings.

graphical ladder editor.

n Slim base, waist and arm allow robot to be

n Supports all major fieldbus networks,

placed close to workpiece holding fixtures

including EtherNet/IP, DeviceNet, Profibus-DP

to improve part accessibility.

and many others.

n Fast axial speeds and acceleration reduce

n Compliant to ANSI/RIA R15.06-1999 and

cycle times and increase production output.

other relevant ISO and CSA safety standards.

Optional Category 3 functional safety unit.

HP20D/HP20RD/HP20D-6 ROBOT

1417

180º

HP20D robot shown.

All dimensions are metric (mm) and for reference only. Please

request detail drawings for all design/engineering requirements.

1717

2072

P-Point

Maximum Envelope

R

1

D

7

1

7

8

0

150

795

105

A

P-Point

R

3

1

4

6

5

0

d

i

a

P

C

D

4

0

2

5

d

i

a

6 dia Depth: 6mm

View A

4-18 dia

313

2

0

0

5

5

9

0.5

Tapped holes M6

(Depth: 10mm)

(Pitch: 1.0) (4 holes)

6

45º

5

0

5

C

B

0

375

335

60

200

Internal user

air line 3/8” PT

(with plug)

260

991

Internal I/O connector is

JL05-2A20-29SC (with cap). Mating connector

will not be supplied, but complete cables are

available as an option

3

3

5

3

7

5

2-12 dia

260

View B

Internal user I/O connector

is JL05-2A20-29PC (with cap)

Mating connector will not be supplied, but

complete cables are available as an option

View C

2

5

0

Internal user air line

3/8” PT (with plug)

View D

ROBOT SPECIFICATIONS

Structure

Payload

HP20RD

HP20D HP20D-6

Shelf-mount

Vertical jointed-

arm type

20 kg (44.1 lbs)

3,063 mm (120.6")

1,717 mm (67.6")

±180°

+155°/-100°

+255°/-165°

±200°

+230°/-50°

±360°

197°/s

175°/s

187°/s

400°/s

400°/s

600°/s

268 kg (590.9 lbs)

All axes

2.0 kVA

39.2 N • m

39.2 N • m

19.6 N • m

1.05 kg • m

2

1.05 kg • m

2

0.75 kg • m

2

Vertical jointed-

arm type

6 kg (13.2 lbs)

3,459 mm (136.2")

1,915 mm (75.4")

±180°

+155°/-100°

+255°/-165°

±200°

+230°/-50°

±360°

197°/s

175°/s

187°/s

400°/s

400°/s

600°/s

273 kg (602 lbs)

All axes

2.8 kVA

11.8 N • m

9.8 N • m

5.9 N • m

0.24 kg • m

2

0.17 kg • m

2

0.06 kg • m

2

Vertical jointed-

arm type

20 kg (44.1 lbs)

3,134 mm (123.4")

2,017 mm (79.4")

+125°/-110°

+105°/-130°

+310°/-115°

±200°

±140°

±360°

180°/s

175°/s

187°/s

400°/s

400°/s

600°/s

293 kg (646.1 lbs)

All axes

2.0 kVA

39.2 N • m

39.2 N • m

19.6 N • m

1.05 kg • m

2

1.05 kg • m

2

0.75 kg • m

2

DX100 CONTROLLER SPECIFICATIONS**

Dimensions (mm)

Approximate Mass

Cooling System

Ambient

Temperature

Relative Humidity

Primary Power

Requirements

Digital I/O

NPN-Standard

PNP-Optional

Position Feedback

Program Memory

Pendant Dim. (mm)

Pendant Weight

Interface

Pendant Playback

Buttons

Maintenance Functions

Multi Tasking

Fieldbus

Ethernet

Safety

800 (w) x 1,000 (h) x 650 (d) (31.5" x 39.4" x 25.6")

250 kg max. (551.3 lbs)

Indirect cooling

During operation: 0° to 45° C (32° to 113° F)

During transit and storage: -10° to 60° C (14° to 140° F)

90% max. non-condensing

3-phase, 240/480/575 VAC at 50/60 Hz

Standard I/O: 40 inputs/40 outputs consisting of 16 system inputs/

16 system outputs, 24 user inputs/24 user outputs

32 Transistor Outputs; 8 Relay Outputs

Max. I/O (optional): 2,048 inputs and 2,048 outputs

By absolute encoder

JOB: 200,000 steps, 10,000 instructions

CIO Ladder Standard: 15,000 steps Expanded: 20,000 steps

169 (w) x 314.5 (h) x 50 (d) (6.7" x 12.4" x 2")

.998 kg (2.2 lbs)

One Compact Flash slot; One USB port (1.1)

Teach/Play/Remote Keyswitch selector Servo On, Start, Hold, and

Emergency Stop Buttons

Displays troubleshooting for alarms, predicts reducer wear

Up to 16 concurrent jobs, 4 system jobs

DeviceNet Master/Slave, AB RIO, Profibus, Interbus-S, M-Net,

CC Link, EtherNet IP/Slave

10 Base T/100 Base TX

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

Controlled Axes 6 6 6

Vertical Reach

Horizontal Reach

Repeatability

Maximum

Motion

Range

Maximum

Speed

Brakes

S-Axis (Turning)

L-Axis (Lower Arm)

U-Axis (Upper Arm)

R-Axis (Upper Arm Twist)

B-Axis (Pitch/Yaw)

T-Axis (Twist)

S-Axis

L-Axis

U-Axis

R-Axis

B-Axis

T-Axis

±0.06 mm (±0.002") ±0.06 mm (±0.002") ±0.06 mm (±0.002")

Approximate Mass

Power Consumption

Allowable R-Axis

Moment B-Axis

T-Axis

Allowable R-Axis

Moment of

B-Axis

Inertia

T-Axis

Programming Language INFORM III, menu-driven programming

Number of Robots/Axes Up to 8 robots, 72 axes

**See DX100 Controller data sheet (DS-399) for complete specifications

TECHNICAL SPECIFICATIONS SUBJECT TO CHANGE WITHOUT NOTICE

DS-407-G ©2012 YASKAWA AMERICA, INC. JUNE 2012

YASKAWA AMERICA, INC.

n

MOTOMAN ROBOTICS DIVISION

100 AUTOMATION WAY, MIAMISBURG, OHIO 45342

TEL: 937.847.6200

n

FAX: 937.847.6277

MOTOMAN IS A REGISTERED TRADEMARK

WINDOWS IS A REGISTERED TRADEMARK OF MICROSOFT

ALL OTHER MARKS ARE THE TRADEMARKS AND

REGISTERED TRADEMARKS OF YASKAWA AMERICA, INC.

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6

3

180º

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5

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1

R

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