MOTOMAN Accessories 1 Accessories Program www.yaskawa.eu.com Masters of Robotics, Motion and Control Contents Accessories Cable Retraction System for Teach Pendants ..................................................... 5 Media Packages suitable for all Applications ....................................................... 7 Robot Pedestals and Robot Base Plates for MOTOMAN Robots ............................................................ 9 External Drive Axes Packages for MOTOMAN Robots with DX200 Controller ....................... 17 Touch Sensor Search Sensor with Welding Wire .......................................... 21 MotoFit Force Control Assembly Tool ................................................ 23 YASKAWA Vision System Camera & Software MotoSight2D .......................................... 25 Fieldbus Systems .................................................................. 27 4 Accessories MOTOMAN Accessories 5 Cable Retraction System for Teach Pendants The automatic YASKAWA cable retraction system has been specially developed for the connecting cables of industrial robot teach pendants. This system is used to improve work safety in the production area and is a recognized accident prevention measure. The stable housing is made of impactresistant plastic, while the mounting bracket is made of steel plate, enabling alignment of the retraction system housing in the direction in which the cable is pulled out. The cable deflection pulley is fitted with a spring element for cable retraction. Additionally, a releas- able cable locking element is integrated at intervals of 50 cm so that the cable can be blocked if required when being pulled out or retracted. Special connecting cables with high-strength polyurethane sheaths are used; these are highly flexible, flame-retardant and resistant to abrasion, oil and coolant. By being rolled up correctly, the cable is kept clean and damage is prevented. KEY BENEFITS • Recognized as an accident prevention measure in manufacturing industry (in accordance with the occupational health and safety management system OHSAS 18001:2007, e.g. for the prevention of tripping hazards) • Stable housing made of impactresistant plastic • Cable deflection pulley with spring element enabling cable retraction • Integrated slip ring system • Releasable automatic cable locking element every 50 cm for blocking the cable when it is pulled out or retracted • Stable mounting bracket of steel plate enables alignment of the retraction system housing in the direction in which the cable is pulled out • Use of flexible, flame-retardant and resistant connecting cable • Protection against dirt and damage to the cable by rolling it up correctly 6 Accessories Cable Retraction Cable retraction small: H 322 x L 276 x P 212 Cable retraction small: H 322 x L 276 x P 212 70 6 27 70 70 85° 6 65 ° 27 70 212 322 85° 65 ° 212 322 Cable retraction large: H 449 x L 382 x P 226 Cable retraction large: H 449 x L 382 x P 226 70 382 70 70 75 ° 382 70° 70 75 ° 226 449 70° 226 449 Article number Designation 165738 Cable retraction M 2,5/10 m for PP cable 173582 Cable retraction M 5,0/10 m for PP cable Article number Designation 165740 Cable retraction L 2,5/20 m for PP cable 165738 Cable retraction M 2,5/10 m for PP cable 173583 Cable retraction L 5,0/20 m for PP cable 173582 Cable retraction M 5,0/10 m for PP cable 165740 Cable retraction L 2,5/20 m for PP cable Approval and quality features 173583 Cable retraction L 5,0/20 m for PP cable TÜV-inspected quality and functions in accordance with • ISO EN 13849-1 e2 (Risk assessment acc. Performance Level “e”) •Approval IEC EN 60204-1 and quality (Safety features of machinery) • UNI EN ISO 10218-1 (Risk assessment and safety requirements for industrial robots) TÜV-inspected quality and functions in accordance with Integrated• ISO EN 13849-1 slip ring e2 system(Risk assessment acc. Performance Level “e”) After the teach pendant has been used, • ProtectionIEC EN 60204-1 classification (Safety IP54of machinery) orderly and safe storage of the connecting • ISOUNI 9001EN ISO certified 10218-1 manufacturing; (Risk assessment CE and and RoHS safety compliant requirements for industrial robots) cable is automatically assured. Damage to the cable and Integrated slip ring system After the teach pendant has been used, •Optional Protection accessories classification IP54 orderlya potential and tripping safe storage hazard of due the toconnecting incorrect • ISO 9001 certified manufacturing; CE and RoHS compliant Available in 2 cable lengths: 10 and 20 metres cablestorage is ofautomatically the cable are assured. thereby avoided.Damage to the cable and Optional accessories a potential tripping hazard due to incorrect storage of the cable are thereby avoided. Available in 2 cable lengths: 10 and 20 metres Accessories 7 Cable retraction small: H 322 x L 276 x P 212 Cable retraction small: H 322 x L 276 x P 212 70 6 27 70 Media Packages 70 85° 6 65 ° 27 suitable for all Applications 70 212 322 85° 65 ° 212 322 Cable retraction large: H 449 x L 382 x P 226 Cable retraction large: H 449 x L 382 x P 226 YASKAWA offers the complete robot portfolio for every application – including additional media 70 packages. If required by the customer, these are fitted directly on the robot prior to delivery. 382 70 70 All media lines are terminated as standard with 75 pluggable connections, with air hoses are suitable ° 382 70° for compressed air. Each of the upper ends are 70 open and delivered with 1 m lenght of cable or hose. 75 ° 226 449 70° The robot typical intermediate flanges are provided as an option. If additional media are required, these can be custom configured in accordance with 226 449 specific requirements. Some media packages are predefined and can thus be ordered directly without the need for additional Article number Designation clarification. Furthermore, replacement packages 165738 Cable retraction M 2,5/10 m for PP cable are available for all existing packages. 173582 Cable retraction M 5,0/10 m for PP cable Article number Designation 165740 Cable retraction L 2,5/20 m for PP cable 165738 Cable retraction M 2,5/10 m for PP cable 173583 Cable retraction L 5,0/20 m for PP cable 173582 Cable retraction M 5,0/10 m for PP cable 165740 Cable retraction L 2,5/20 m for PP cable Approval and quality features KEY BENEFITS 173583 Cable retraction L 5,0/20 m for PP cable TÜV-inspected quality and functions in accordance with • Available for all applications • ISO EN 13849-1 e2 (Risk assessment acc. Performance Level “e”) •Approval IEC EN 60204-1 and quality (Safety features of machinery) • Directly installed on the robot • UNI EN ISO 10218-1 (Risk assessment and safety requirements for industrial robots) • All media lines on bottom terminated TÜV-inspected quality and functions in accordance with with pluggable connections Integrated• ISO EN 13849-1 slip ring e2 system(Risk assessment acc. Performance Level “e”) • Predefined and variable media After the teach pendant has been used, • ProtectionIEC EN 60204-1 classification (Safety IP54of machinery) orderly and safe storage of the connecting • ISOUNI 9001EN ISO certified 10218-1 manufacturing; (Risk assessment CE and and RoHS safety compliant requirements for industrial robots) combinations cable is automatically assured. Damage to • Wiring connectors included the cable and Integrated slip ring system • Replacement packages After the teach pendant has been used, •Optional Protection accessories classification IP54 orderlya potential and tripping safe storage hazard of due the toconnecting incorrect • ISO 9001 certified manufacturing; CE and RoHS compliant Available in 2 cable lengths: 10 and 20 metres cablestorage is ofautomatically the cable are assured. thereby avoided.Damage to the cable and Optional accessories a potential tripping hazard due to incorrect storage of the cable are thereby avoided. Available in 2 cable lengths: 10 and 20 metres Controlled by DX200 8 Accessories Media Packages Overview Media Packages HA: HA: PS: MAG-HA: Robot Axes Empty conduit Handling Handling Spotwelding Welding and Overview Media Packages Profibus ProfNet Servo Gun Handling 1-3 176242 176267 178913 MH12 HA: HA: PS: MAG-HA: Robot Axes4-6 Empty176243 conduit Handling176268 Handling178914 Spotwelding Welding and Profibus ProfNet Servo Gun Handling 1-3 176244 176269 178159 MH24 1-3 176242 176267 178913 4-6 176245 176270 178915 MH12 4-6 176243 176268 178914 1-3 176247 176271 178916 176298 MH50 II 1-3 176244 176269 178159 4-6 176248 176272 178917 176299 MH24 4-6 176245 176270 178915 1-3 176247 176271 178916 176298 MH50-35 II 1-3 176247 176271 178916 176298 4-6 176249 176273 178918 176300 MH50 II 4-6 176248 176272 178917 176299 1-3 176247 176271 178916 176298 MH50-20 II 1-3 176247 176271 178916 176298 4-6 176250 176274 178919 176301 MH50-35 II 4-6 176249 176273 178918 176300 1-3 176251 176275 178920 176289 176302 MS80W II 1-3 176247 176271 178916 176298 4-6 176252 176276 178921 176290 176303 MH50-20 II 4-6 176250 176274 178919 176301 1-2 176253 176277 179190 176304 MH110 1-3 176251 176275 178920 176289 176302 2-6 176254 176278 179191 176305 MS80W II 4-6 176252 176276 178921 176290 176303 1-2 176255 176279 178922 176306 MH180 1-2 176253 176277 179190 176304 2-6 176256 176280 178923 176307 MH110 2-6 176254 176278 179191 176305 1-2 176257 176281 179192 176308 MH225 1-2 176255 176279 178922 176306 2-6 176258 176282 179193 176309 MH180 2-6 176256 176280 178923 176307 1-2 176259 176283 179194 176292 176310 MS100 II 1-2 176257 176281 179192 176308 2-6 176260 176284 179195