Spot Welding Robotics Arm

Model

Motoman-ES200D

Type

YR-ES0200D-A00

Controlled Axis

6 (Vertically Articulated)

Payload

200 kg (186.5 kg)^*3

Repeatability*1

+0.2 mm

Range of Motion

S-axis (turning)

+180^o

L-axis (lower arm)

+76^o to -60^o

U-axis (upper arm)

+230^o to -142.5^o

R-axis (wrist roll)

+360^o (+205^o)^*3

B-axis (wrist pitch/yaw)

+125^o (+120^o)^*3

T-axis (turning)

+360^o (+180^o)^*3

Maximum Speed

S-axis (turning)

1.67 rad/s, 95^o/s

L-axis (lower arm)

1.58 rad/s, 90^o/s

U-axis (upper arm)

1.67 rad/s, 95^o/s

R-axis (wrist roll)

2.11 rad/s, 120^o/s

B-axis (wrist pitch/yaw)

2.11 rad/s, 120^o/s

T-axis (wrist twist)

3.32 rad/s, 190^o/s

Allowable Moment

R-axis (wrist roll)

1344 N-m (1291 N-m)^*3

B-axis (wrist pitch/yaw)

1344 N-m (1291 N-m)^*3

T-axis (wrist twist)

715 N-m

Allowable Inertia (GD2/4)

R-axis (wrist roll)

143 kg-m2 (141 kg-m²)^*3

B-axis (wrist pitch/yaw)

143 kg-m2 (141 kg-m²)^*3

T-axis (wrist twist)

80 kg-m²

Mass

1130 kg

Ambient Conditions

Temperature

0^oC to +45^oC

Humidity

20 to 80% RH (Non-Condensing)

Vibration

4.9 m/s² or less

Others

• Free from corrosive gasses or liquids, or explosive gasses.
• Clean and dry.
• Free from excessive electrical noise (plasma).

Power Requirements*2

5.0 kVA