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SOLUTIONS IN MOTION®

INTEGRATED CABLE PACKAGE ES165D


ES200D
WITH SPOT HARNESS

• SPOT WELDING •

Payloads:
WELD CONTROL ON
PENDANT (OPTIONAL)
165 kg (ES165D)
200 kg (ES200D)
Mounting Option:
Shelf (ES165RD & ES200RD)

Fast, Flexible and Powerful n ES165D and ES200D robots can be


n High-speed ES165D and ES200D combined with VS50 and MS80 models
“Expert Spot” robots are specifically for high-density installations with
BASE CONNECTORS FOR UTILITIES designed to deliver unmatched performance improved throughput.
and reliability in spot welding applications.
DX100 Controller
n To increase cable life, enhance safety and
Top Reasons to buy reduce teaching time, servo gun cables n Patented multiple robot control supports
n Proven integrated cable harness and air and water lines are routed through up to 8 robots/72 axes.
for power and utilities increases robot base and upper arm to robot wrist. n Windows® CE programming pendant with
cable life and reduces life n Compact, slim design allows robot to color touch screen and USB interface.
cycle cost reduce cycle time and reach into confined n Integrated pendant programming
spaces, improving system productivity. applications for Medar and Nadex timers.
n Integrated control for spot guns
with servo-motor drives improves n ES165D and ES200D models feature n Faster processing speeds for smoother
weld quality 2,651 mm (104.4") reach. Work envelope interpolation. Quicker I/O response.
extends behind body, allowing tools to be Accelerated Ethernet communication.
n DX100 can control up to 8 robots placed behind manipulator and providing
n Extensive I/O suite includes integral PLC
and reduces cycle time due to easy access to weld guns for maintenance.
and touch screen HMI, 2,048 I/O and
improved motion control of arm n Process-specific design, together with graphical ladder editor.
and gun patented multiple robot controller,
n Supports all major fieldbus networks,
n Industry’s first one-year spot ensures maximum productivity in spot
including EtherNet/IP, DeviceNet, Profibus-DP
harness warranty welding applications.
and many others.
n Standard ES165D and ES200D models
n Compliant to ANSI/RIA R15.06-1999 and
are floor-mounted. Shelf-mounted versions
other relevant ISO and CSA safety standards.
(ES165RD and ES200RD) available.
Optional Category 3 functional safety unit.
ES165D/ES200D Robots
ES200D robot shown with harness. ES165D dimensions are same, except
where noted. All dimensions are metric (mm) and for reference only. Please
request detail drawings for all design/engineering requirements.

4612
1961 2651

R789
P-POINT MAX
ENVELOPE
299
120 197 CAREFUL OF PERIPHERAL INTERFERENCE
133 MOVEMENT IS SUBJECT TO ARM POSTURE 385
(360)
73 285 1225 250
260 153 (225)

410 275 B
491 R608 250
P-POINT
*4X M8X1.25 x12
(USAGE OF THIS HOLE LIMITED TO R2651 3050
SIZE OF EXTERNAL EQUIPMENT
PLEASE CHECK DIMENSION OF
255 40 EQUIPMENT BEFOREHAND)
1150
2203
138
75
NOTE: DIMENSIONS IN PARENTHESES 5
ARE FOR ES165D 85
4X M12X1.75 x24
4X M8X1.25 x15 650
554 368 40 255
C 40
CRIMPED PIN TERMINAL
FOR EXTERNAL A 322
EQUIPMENT 120 893
(IN THE CASING)
19
20
21 640 2X Ø10 x8
290 290 2X Ø9 x8
AIR EXHAUST PT 3/8 540 2X Ø20 THRU P.C.D.92
(WITH PIPE PLUG)
350 63 Ø160
290 Ø196
735 640
540 (433) 12X M10X1.5 x12
290 8 P.C.D.125
117
73
VIEW B AIR INLET PT 3/8
2X Ø16 THRU WITH PIPE PLUG
30 8X Ø22 THRU
50 290 290
353 COOLANT HOSE
CONNECTOR (BASE SIDE)
VIEW A
4X M12X1.75 x24
240KG MAX WELDING POWER INTERNAL USER WIRING
CABLE (BASE SIDE) VIEW C CONNECTOR (BASE SIDE)
JL05-2A28-21PC (JAE, WITH CAP)
MATING CONNECTOR TYPE IS
JL05-6A28-21S (JAE,PROVIDED BY USERS)

Robot SPECIFICATiONS DX100 CONTROLLER SPECIFICATiONS**


ES165D ES200D Dimensions (mm) 800 (w) x 1,000 (h) x 650 (d) (31.5" x 39.4" x 25.6")
Structure Vertical jointed- Vertical jointed- Approximate Mass 250 kg max. (551.3 lbs)
arm type arm type
Cooling System Indirect cooling
Controlled Axes 6 6
Ambient During operation: 0° to 45° C (32° to 113° F)
Payload 165 kg (363.8 lbs.) 200 kg (441 lbs.) Temperature During transit and storage: -10° to 60° C (14° to 140° F)
Vertical Reach 3,372 mm (132.8") 3,372 mm (132.8") Relative Humidity 90% max. non-condensing
Horizontal Reach 2,651 mm (104.4") 2,651 mm (104.4") Primary Power
Repeatability ±0.2 mm (0.008") ±0.2 mm (0.008") Requirements 3-phase, 240/480/575 VAC at 50/60 Hz
S-Axis (Turning/Sweep) ±180° ±180° Digital I/O Standard I/O: 40 inputs/40 outputs consisting of 16 system inputs/
Maximum L-Axis (Lower Arm) +76°/-60° +76°/-60° NPN-Standard 16 system outputs, 24 user inputs/24 user outputs
Motion U-Axis (Upper Arm) +230°/-142.5° +230°/-142.5° PNP-Optional 32 Transistor Outputs; 8 Relay Outputs
Range R-Axis (Wrist Roll) ±360° [±205°]* ±360° [±205°]* Max. I/O (optional): 2,048 inputs and 2,048 outputs
B-Axis (Bend/Pitch/Yaw) ±130° [±120°]* ±125° [±120°]* Position Feedback By absolute encoder
T-Axis (Wrist Twist) ±360° [±180°]* ±360° [±180°]*
Program Memory JOB: 200,000 steps, 10,000 instructions
S-Axis 110°/s 95°/s CIO Ladder Standard: 15,000 steps Expanded: 20,000 steps
L-Axis 110°/s 90°/s
Pendant Dim. (mm) 169 (w) x 314.5 (h) x 50 (d) (6.7" x 12.4" x 2")
Maximum U-Axis 110°/s 95°/s
Speed R-Axis 175°/s 120°/s Pendant Weight .998 kg (2.2 lbs)
B-Axis 150°/s 120°/s Interface One Compact Flash slot; One USB port (1.1)
T-Axis 240°/s 190°/s
Pendant Playback Teach/Play/Remote Keyswitch selector Servo On, Start, Hold, and
Approximate Mass 1,100 kg (2,425.5 lbs) 1,130 kg (2,491.7 lbs) Buttons Emergency Stop Buttons
Brakes All axes All axes Programming Language INFORM III, menu-driven programming
Power Consumption 5 kVA 5 kVA Maintenance Functions Displays troubleshooting for alarms
Allowable R-Axis 868 N • m 1,291 N • m Number of Robots/Axes Up to 8 robots, 72 axes
Moment B-Axis 868 N • m 1,291 • m
Multi Tasking Up to 16 concurrent jobs, 4 system jobs
T-Axis 490 N • m 715 N • m
Fieldbus DeviceNet Master/Slave, AB RIO, Profibus, Interbus-S, M-Net,
Allowable R-Axis 83 kg • m 2
141 kg • m 2
CC Link, EtherNet IP/Slave
Moment of B-Axis 83 kg • m2 141 kg • m2
Inertia T-Axis 45 kg • m2 80 kg • m2 Ethernet 10 Base T/100 Base TX
* Working range with integrated spot harness. Safety 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

www.motoman.com
Motoman robotics
100 automation way, Miamisburg, OHIO 45342 MOTOMAN IS A REGISTERED TRADEMARK
Tel: 937.847.6200 n FAX: 937.847.6277 Windows is a registered trademark of microsoft
TECHNICAL SPECIFICATIONS SUBJECT TO CHANGE WITHOUT NOTICE ALL other MARKS ARE THE TRADEMARKS AND
DS-406-d ©2011 Yaskawa america, inc. June 2011 REGISTERED TRADEMARKS OF Yaskawa America, INC.

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