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Robot Optimized for Painting

MOTOMAN-EPX Series

Certified for
ISO9001 and
ISO14001

QMS Accreditation
JQA-0813 JQA-EM0924
R009
Complete product lineup for better surface finish
Robot Optimized for Painting

MOTOMAN-EPX Series Explosion proof certification: Conforms to TIIS, FM, and ATEX.

Based on the concept of having a broad range of motion with a compact design, Yaskawa’s MOTOMAN robots continue to
evolve as optimized robot in functions and performance for each application. The rich lineup in the MOTOMAN -EPX series
provides robots with a variety of features, including optimal wrist structures for each type of workpiece, arms with internally
routed hoses, and a high-performance controller. The best robot for the application can be chosen to ensure high-quality painting.

Manipulator lineup in accordance with workpiece size


General industrial applications, Small workpieces Automotive industry applications, Large workpieces
Mobile telephones, reflectors,etc. Automobile bodies, bumpers, heavy machine, steel products, house material, etc.
Small robot Medium robot Large robot

Wall-mounted type
EPX1250 EPX2050 EPX2050 EPX2700 EPX2750
[ Orthogonal wrist ] [ Lemma wrist ] [ Hollow slim arm ] [ Hollow arm ] [ Lemma wrist ]

Automotive industry applications, Large workpieces


Automobile bodies, bumpers, heavy machine, steel products, house material, etc.
Large robot

Shelf-mounted type
EPX2800 EPX2800R EPX2900
[ Hollow slim arm ] [ Hollow slim arm ] [ Hollow arm (Hollow process arm) ]

Wrist Structures

Hollow wrist (H-type) Lemma wrist (L-type)


Bending
Hoses and cables can Without any singular point in
be contained inside the front, the EPX robots with
wrist. No interference lemma wrists are ideal for
with workpieces can painting horizontal and vertical
Bending
shorten tact time. planes as well as painting
Rotation
items in synchronization with
the conveyor.

2
MOTOMAN-EPX1250
Small painting robot, 5-kg payload Orthogonal wrist

Ideal for Painting Small Parts!


 The compact design enables a broad range of motion.
 Space-saving painting booth has been achieved by a compact controller
and various mounting methods for the manipulator.
 A compact bell gun can be mounted for high-quality painting.

Dimensions Units : mm : P-point Maximum Envelope


45 ° 300
3.5
Floor-mounted P.C
.D
Wall-mounted
.27
. 5
Tapped holes M5

36 dia. h6
(4 holes) (Depth: 9 mm)
170° (Pitch: 0.8)

R5
20 dia. H6 5 dia. H7 1 0
10

5 (1 hole) (Depth: 6 mm)


R5

128

View A 60 °
° 60
300

Scavenging port 12 dia. 12 dia. H7 through holes


(air hose outside diameter) for reference (2 holes)
R12 350 153±0.1
56 E:

R12
Tapped holes M6 102±0.1 102±0.1 128
30
(2 holes) (Pitch: 1.0)

56
139±0.1

170°
95
260
300
390

139±0.1

F:
Tapped holes M6 1046
(2 holes)(Pitch: 1.0) 30 95
18 dia. 310 520 130 86
153±0.1

Exhaust port 12 dia. 260 through holes


(air hose outside diameter) 300 (4 holes)
2063
View B Model: - A000
Rear feeder
cable connection


204 215
86

200 520 86.5 14


R T
130

A Model: - A002
B
°

Bottom feeder
70

200
P-point L
65
1366

U 108 17 cable connection


°

2063
520
1046

° 131
65 S
1852

229.5 234 U
120
14

L ° R
520

120 70
°

°
310

B
S
Model: - A000 B P-point T
86.5

Rear feeder
486

cable connection
Model: - A002
Bottom feeder
486 1366
cable connection
1852

Manipulator Specifications
Model MOTOMAN-EPX1250 R -axis (wrist roll) 8.0 N·m (0.82 kgf·m)
Allowable
Type
Controlled Axis
YR-EPX1250- 0
* **
6 (Vertically articulated)
Moment*2
B -axis
T -axis
(wrist pitch/yaw)
(wrist twist)
8.0 N·m (0.82 kgf·m)
3.0 N·m (0.3 kgf·m)
Payload 5 kg Allowable R -axis (wrist roll) 0.20 kg·m2
Repeatability*1 ± 0.15 mm Inertia B -axis (wrist pitch/yaw) 0.20 kg·m2
S -axis (turning) − 170˚ − +170˚ ( − 60˚ − +60˚ when mounted on the wall) (GD2/4) T -axis (wrist twist) 0.07 kg·m2
L -axis (lower arm) − 65˚ − +120˚ Mass 110 kg
Range of U -axis (upper arm) − 165˚ − +205˚ Temperature 0 to +40˚C
Motion R -axis (wrist roll) − 190˚ − +190˚ Ambient Humidity 20 to 80%RH (non-condensing)
B -axis (wrist pitch/yaw) − 145˚ − +145˚ Conditions Vibration 4.9 m/s2 or less
T -axis (wrist twist) − 360˚ − +360˚ Others Free from excessive electrical noise (plasma)
S -axis (turning) 3.23 rad/s, 185˚/s Power Requirements*3 max. 1.5 kVA
L -axis (lower arm) 3.23 rad/s, 185˚/s Installation Floor, Wall, or Ceiling-mounted
Maximum U -axis (upper arm) 3.23 rad/s, 185˚/s Max Mass of Painting Devices on Robot 5 kg including parts mounted in the wrist
Speed R -axis (wrist roll) 6.28 rad/s, 360˚/s Max Mass for Painting Devices on Robot Base 10 kg each for E and F sections (See View B)
B -axis (wrist pitch/yaw) 7.16 rad/s, 410˚/s Combination of pressurized ( fia 2 G 4 ) and
Type of Explosion-proof
T -axis (wrist twist) 8.73 rad/s, 500˚/s intrinsic safety (ia2G4).
Explosion Proof Certification TIIS (Certified), FM (Pending), ATEX (Pending)

* 1 : Conforms to JIS B 8432.


* 2 : Gravitational units are shown in parentheses.
* 3 : Varies in accordance with applications and motion patterns.
Note: SI units are used for specifications.
3
MOTOMAN-EPX2050
Medium painting robot, 10-kg payload Lemma wrist

Ideal for painting horizontal and vertical planes in


synchronization with the conveyor.
 Teaching for painting synchronized with conveyor movement is easy, because the
wrist has no singular points in the front area.
 With a MOTOFEEDER, painting workpieces on mesh and on spindles is possible.
 Compact controller saves space.

Dimensions Units : mm : P-point Maximum Envelope

(Rotation outer dia.)


86
R5

14 dia. H7
Tapped holes M6
5 (8 holes) (Depth: 9 mm)
18

R2 0 3

45 dia.

2
P-point .D.3
P.C

70 dia.
165
55°
*

0.5
R6
02

View A
* : When mounted on the wall

300 850 93

2335 640
P-point
215 215
U R 2031
16

T

215 215
245

480
141.5

35 ° B
50° 5°
850

2767

18 dia.
1783

L (4 holes)
860
100°

438
600

S 285 View B
0

B 240 240
406
432 647
1020

486
575
620
925

2035

3055

Manipulator Specifications
Model MOTOMAN-EPX2050 R -axis (wrist roll) 30.4 N·m (3.1 kgf·m)
Allowable
Type YR-EPX2050- 3
* ** B -axis (wrist pitch/yaw) 19.6 N·m (2.0 kgf·m)
L-type Wrist

Moment*2
Controlled Axis 6 (Vertically articulated) T -axis (wrist twist) 9.8 N·m (1.0 kgf·m)
Payload 10 kg Allowable R -axis (wrist roll) 0.97 kg·m2
Repeatability*1 ± 0.5 mm Inertia B -axis (wrist pitch/yaw) 0.40 kg·m2
S -axis (turning) − 90˚ − +90˚ ( − 27.5˚ − +27.5˚ when mounted on the wall) (GD2/4) T -axis (wrist twist) 0.10 kg·m2
L -axis (lower arm) − 50˚ − +100˚ Mass 370 kg
+5˚ − +163˚ (For the range of +5˚ to +10˚ : the R-axis Temperature 0 to +40˚C
U -axis (upper arm)
Range of motion range is limited to −260˚ to −65˚, and +60˚ to +260˚ .) Ambient Humidity 20 to 80%RH (non-condensing)
Motion − 260˚ − +260˚ (For the range of − 145˚ to − 20˚ , and +125˚ Conditions Vibration 4.9 m/s2 or less
R -axis (wrist roll)
to +260˚ : the B-axis motion range is limited to − 195˚ to +15˚ .) Others Free from excessive electrical noise (plasma)
B -axis (wrist pitch/yaw) − 270˚ − +270˚ Power Requirements*3 max. 5.0 kVA
T -axis (wrist twist) − 260˚ − +260˚ Installation Floor, Wall, or Ceiling-mounted
S -axis (turning) 123.5˚/s Max Weight of Painting Devices on Arm 20 kg including parts mounted in the wrist
L -axis (lower arm) 120˚/s Combination of pressurized (fia2G4) and
Type of Explosion-proof
Maximum U -axis (upper arm) 123.5˚/s intrinsic safety (ia2G4).
Speed R -axis (wrist roll) 360˚/s Explosion Proof Certification TIIS (Certified), FM (Pending), ATEX (Application being planned)
B -axis (wrist pitch/yaw) 360˚/s
*1 : Conforms to JIS B 8432.
T -axis (wrist twist) 360˚/s *2 : Gravitational units are shown in parentheses.
*3 : Varies in accordance with applications and motion patterns.
4 Note: SI units are used for specifications.
MOTOMAN-EPX2050
Medium painting robot, 15-kg payload Hollow slim arm*

Hollow, slim arm!


 No interference with workpieces, because tubes for painting guns can be
installed inside the hollow, slim arm.
 Painting devices can be mounted on the arm to shorten color changing time
and save paint and thinner.
*: Inner diameter 50 mm
Dimensions Units : mm : P-point Maximum Envelope
90

5 4
˚

R20
R590

7 (Within 116 dia. h7) ˚ 60


60 ˚

116 dia. h7
50 dia 4 dia. H7
.

117 dia.
(2 holes)
(Depth: 7 mm)
R685

2
10
D.
˚
90

.
P.C Tapped holes M6
(6 holes)
(Depth: 11 mm) (Pitch: 1.0)
2354
View A
194.7 850 155
2052 241 270
95

A 1691
310

8 5˚
77.9

R B T
U
˚
85 P-point
35˚
73˚


50˚
850

2806
1855

248.5
1864

913
L

215
100

480
˚

73˚

215
406
342
600

S 18 dia. (4 holes)
˚
20

215 215 51
0
266
B 300 240 240 650
438
1074

2054

647
523

631
685

981
0

452
3128 View B

Manipulator Specifications
Model MOTOMAN-EPX2050 R -axis (wrist roll) 45.8 N·m (4.67 kgf·m)
Allowable
Type YR-EPX2050- 5
* ** B -axis (wrist pitch/yaw) 33.8 N·m (3.45 kgf·m)
H-type Wrist

Moment*2
Controlled Axis 6 (Vertically articulated) T -axis (wrist twist) 10.8 N·m (1.1 kgf·m)
Payload 15 kg Allowable R -axis (wrist roll) 1.45 kg·m2
Repeatability*1 ± 0.5 mm Inertia B -axis (wrist pitch/yaw) 0.79 kg·m2
S -axis (turning) − 90˚ − +90˚ (GD2/4) T -axis (wrist twist) 0.10 kg·m2
L -axis (lower arm) − 50˚ − +100˚ Mass 540 kg
Range of U -axis (upper arm) +5˚ − +163˚ Temperature 0 to +40˚C (FM standard: 0 to +45˚C)
Motion R -axis (wrist roll) − 360˚ − +360˚ Ambient Humidity 20 to 80%RH (non-condensing)
B -axis (wrist pitch/yaw) − 360˚ − +360˚ Conditions Vibration 4.9 m/s2 or less
T -axis (wrist twist) − 360˚ − +360˚ Others Free from excessive electrical noise (plasma)
Maximum Speed 2.0 m/s Power Requirements*3 max. 5.0 kVA
Installation Floor or Wall-mounted
Max Weight of Painting Devices on Arm 40 kg including parts mounted in the wrist
Combination of pressurized ( fia 2 G 4 ) and
Type of Explosion-proof
intrinsic safety (ia2G4).
Explosion Proof Certification TIIS (Certified) ,FM (Certified) ,ATEX (Certified)

*12 :: Conforms to JIS B 8432.


*3 : Gravitational units are shown in parentheses.
* Varies in accordance with applications and motion patterns.
Note: SI units are used for specifications. 5
MOTOMAN-EPX2750
Medium painting robot, 10-kg payload Lemma wrist

Ideal for painting horizontal and vertical planes in


synchronization with the conveyor.
 Teaching for painting synchronized with conveyor movement is easy, because the
wrist has no singular points in the front area.
 Compact controller saves space.

Dimensions Units : mm : P-point Maximum Envelope

(Rotation outer dia.)


9
72
8

R2
3
R6

14 dia. H7
Tapped holes M6
R822

(8 holes) (Depth: 9 mm)

45 dia.
300°

P-point
.D .32
P.C

70 dia.
165

0 .5

View A

300 1298 93

16 3029

2772

P-point 2455
R
T

250 250
285

580
141.5

U B
40° 40°
1100

3758

90
2078

10 ° °
L 100 265 265 18 dia.
827 750 (6 holes)
° 609
108
600


16
S 176.5
0
View B
B
290 290
667 761
729
1269

604
770.5
822
998

2729

3997.5

Manipulator Specifications
Model MOTOMAN-EPX2750 R -axis (wrist roll) 30.4 N·m (3.1 kgf·m)
Allowable
Type YR-EPX2750- 3
* ** B -axis (wrist pitch/yaw) 19.6 N·m (2.0 kgf·m)
L-type Wrist

Moment*2
Controlled Axis 6 (Vertically articulated) T -axis (wrist twist) 9.8 N·m (1.0 kgf·m)
Payload 10 kg Allowable R -axis (wrist roll) 0.97 kg·m2
Repeatability*1 ± 0.5 mm Inertia B -axis (wrist pitch/yaw) 0.40 kg·m2
S -axis (turning) − 150˚ − +150˚ (GD2/4) T -axis (wrist twist) 0.10 kg·m2
L -axis (lower arm) − 40˚ − +90˚ Mass 560 kg
U -axis (upper arm) +10˚ − +168˚ Temperature 0 to +40˚C
Range of
− 260˚ − +260˚ (For the range of − 145˚ to − 20˚ , and +125˚ Ambient Humidity 20 to 80%RH (non-condensing)
Motion R -axis (wrist roll)
to +260˚ : the B-axis motion range is limited to −195˚ to +15˚ .) Conditions Vibration 4.9 m/s2 or less
B -axis (wrist pitch/yaw) − 270˚ − +270˚ Others Free from excessive electrical noise (plasma)
T -axis (wrist twist) − 260˚ − +260˚ Power Requirements*3 max. 5.0 kVA
S -axis (turning) 124˚/s Installation Floor-mounted
L -axis (lower arm) 127˚/s Max Weight of Painting Devices on Arm 30 kg including parts mounted in the wrist
Maximum U -axis (upper arm) 112˚/s Combination of pressurized (fia2G4) and
Type of Explosion-proof
Speed R -axis (wrist roll) 360˚/s intrinsic safety (ia2G4).
B -axis (wrist pitch/yaw) 360˚/s Explosion Proof Certification TIIS (Certified), FM (Pending), ATEX (Application being planned)
T -axis (wrist twist) 360˚/s
*1 : Conforms to JIS B 8432.
*2 : Gravitational units are shown in parentheses.
*3 : Varies in accordance with applications and motion patterns.
6 Note: SI units are used for specifications.
MOTOMAN-EPX2700
Medium painting robot, 15-kg payload Hollow arm*

A wall-mounted robot for the ultimate in short processing!


 The painting booth can be smaller. More compact size  Right - offset and left - offset models are available.
lowers the initial cost and the running cost. Symmetrical installation of two robots possible.
 The long path motion of the robot can realize  Solenoid valves and electropneumatic regulators can
consistent painting quality, because the painting area be mounted inside. Less time is required to change
does not need to be broken into several sections. paint colors. *: Inner diameter 70 mm

Dimensions Units : mm : P-point Maximum Envelope

21.5±0.1 02

472
70 .1
462

.D

782
Top View di
a.
C
P. Tapped holes M6
310
(6 holes)

116 dia. h7
(Depth: 12 mm)

140 dia.
(Pitch: 1.0)
1142

B
5.2 dia.
0

(2 holes)
2447 (Depth: 10 mm)
51±0.02 51±0.02

View A
670 1300
380
310
35
48.5 364
65

73 dia.
˚

L 12 dia. H7
236 (Depth: 12 mm)
125
800

0
222 00
R3

25˚

U
250
12

46.5
589 S 25 95±0.1
10˚

˚ ˚ 20 258
1400

140 30
836
803

14 2-
R6
(Depth: 12 mm)
250

R
+0.018

B
0

403±0.1
12

T
125
180

A
98.7
R2700

22 dia.
P-point 30 160 160 (8 holes)
2700 383
2395

1896

73
0

550

1950

2700

View B
Note: These drawings are for the right-offset model. Contact your
Yaskawa representative about drawings for the left-offset model.

Manipulator Specifications
Model MOTOMAN-EPX2700 R -axis (wrist roll) 45.8 N·m (4.67 kgf·m)
Allowable
YR-EPX2700- 000
* YR-EPX2700- 100
* B -axis (wrist pitch/yaw) 33.8 N·m (3.45 kgf·m)
H-type Wrist

Type Moment*2
(Right offset) (Left offset) T -axis (wrist twist) 10.8 N·m (1.1 kgf·m)
Controlled Axis 6 (Vertically articulated) Allowable R -axis (wrist roll) 1.45 kg·m2
Payload 15 kg Inertia B -axis (wrist pitch/yaw) 0.79 kg·m2
Repeatability*1 ± 0.15 mm (GD2/4) T -axis (wrist twist) 0.10 kg·m2
S -axis (turning) − 25˚ − +125˚ − 125˚ − +25˚ Mass 590 kg
L -axis (lower arm) − 65˚ − +140˚ Temperature 0 to +40˚C
Range of U -axis (upper arm) − 65˚ − +90˚ Ambient Humidity 20 to 80%RH (non-condensing)
Motion R -axis (wrist roll) − 720˚ − +720˚ Conditions Vibration 4.9 m/s2 or less
B -axis (wrist pitch/yaw) − 720˚ − +720˚ Others Free from excessive electrical noise (plasma)
T -axis (wrist twist) − 720˚ − +720˚ Power Requirements*3 max. 5.0 kVA
S -axis (turning) 1.7 rad/s, 100˚/s Installation Wall-mounted
L -axis (lower arm) 1.7 rad/s, 100˚/s Max Weight of Painting Devices on Arm 20 kg including parts mounted in the wrist
Maximum U -axis (upper arm) 1.9 rad/s, 110˚/s Combination of pressurized ( fia 2 G 4 ) and
Type of Explosion-proof
Speed R -axis (wrist roll) 7.8 rad/s, 450˚/s intrinsic safety (ia2G4).
B -axis (wrist pitch/yaw) 7.8 rad/s, 450˚/s Explosion Proof Certification TIIS (Certified),FM (Certified),ATEX (Pending)
T -axis (wrist twist) 9.6 rad/s, 550˚/s
* 1 : Conforms to JIS B 8432.
* 2 : Gravitational units are shown in parentheses.
* 3 : Varies in accordance with applications and motion patterns.
Note: SI units are used for specifications. 7
MOTOMAN-EPX2800/2800R
Large painting robot, 20-kg/15-kg payload Hollow slim arm*

Lineup includes floor-mounted


and shelf-mounted types!
 No interference with workpieces, because hoses for painting devices can be routed
inside the hollow, slim arm. Ideal for painting interior panels of automobiles.
 The response of painting devices can be enhanced by solenoid valves and
electropneumatic regulators inside the pressurized enclosure.
*: Inner diameter 70 mm

Dimensions Units : mm : P-point Maximum Envelope

EPX2800 02 EPX2800R
70 .1
di C.D
150˚ a. P.

116 dia. h7
140 dia.
5
R27
78 R282

90
˚
Tapped holes M6 (6 holes) 21.5±0.1
(Depth: 12 mm) (Pitch: 1.0)
R1 0 5.2 dia. H7
21 View A 13.5 dia.
R5

(2 holes) (Depth: 10 mm)


(15 holes) 618 12 dia. H7

R6
19

12 +   90˚

75
0.018
0 elongated holes
(Width: 22 mm)
150˚

425
290

12 +  
0.018
0
elongated holes

125
477
(Width: 22 mm)
12 dia. H7 285 285 17.5 dia. 2766 Tapped hole M8
(12 holes) (1 hole) (Pitch: 1.25)
330 250 1550 180 View B 377 450 950 270
View C
3324 2017
3046 60
˚

20
˚
145

335 335
B 2351
135 A 40˚ 90
˚
300

˚
98.7

U R P-point T L
652
251

45˚ 1467
950
2190.5

L 390
˚
12

90
817.5

U

0
795.5 C
1400

R 381
795.5

701 S
583
S 227 B
0
160˚ 392 378
469 P-point
B T
180

491 98.7 233 437


670
1258 A 1985
1267
975

450
580

1187

2825
1729

422
281
0

684
959
1073
1157

2439

2778

Manipulator Specifications
Model MOTOMAN-EPX2800 MOTOMAN-EPX2800R R -axis (wrist roll) 77.4 N·m (7.9 kgf·m) 45.8 N·m (4.67 kgf·m)
Allowable
Type YR-EPX2800- 0
* **
YR-EPX2800R- 0 0
** B -axis (wrist pitch/yaw) 49.9 N·m (5.1 kgf·m) 33.8 N·m (3.45 kgf·m)
H-type Wrist

Moment*2
Controlled Axis 6 (Vertically articulated) T -axis (wrist twist) 19.6 N·m (2.0 kgf·m) 10.8 N·m (1.1 kgf·m)
Payload 20 kg 15 kg Allowable R -axis (wrist roll) 2.45 kg·m2 1.45 kg·m2
Repeatability*1 ± 0.5 mm Inertia B -axis (wrist pitch/yaw) 1.20 kg·m2 0.79 kg·m2
S -axis (turning) − 150˚ − +150˚ − 120˚ − +120˚ (GD2/4) T -axis (wrist twist) 0.20 kg·m2 0.10 kg·m2
− 40˚ − +180˚ (S-axis − 90˚ − +90˚) Mass 650 kg 820 kg
L -axis (lower arm) − 45˚ − +120˚ − 40˚ − +120˚ (S-axis +90˚ − +120˚) Temperature 0 to +40˚C 0 to +40˚C (FM standard: 0 to +45˚C)
Range of − 40˚ − +120˚ (S-axis − 90˚ − − 120˚) Ambient Humidity 20 to 80%RH (non-condensing)
Motion U -axis (upper arm) − 85˚ − +90˚ − 70˚ − +90˚ Conditions Vibration 4.9 m/s2 or less
R -axis (wrist roll) − 360˚ − +360˚ Others Free from excessive electrical noise (plasma)
B -axis (wrist pitch/yaw) − 360˚ − +360˚ Power Requirements*3 max. 5.0 kVA
T -axis (wrist twist) − 360˚ − +360˚ Installation Floor-mounted Shelf-m ounted
S -axis (turning) 2.7 rad/s, 150˚/s Max Weight of Painting Devices on Arm 50 kg*4 25 kg*4
L -axis (lower arm) 2.1 rad/s, 120˚/s Combination of pressurized ( fia 2 G 4 ) and
Type of Explosion-proof
Maximum U -axis (upper arm) 2.7 rad/s, 155˚/s intrinsic safety (ia2G4).
Speed R -axis (wrist roll) 3.1 rad/s, 360˚/s Explosion Proof Certification TIIS (Certified),FM (Certified),ATEX (Pending)
B -axis (wrist pitch/yaw) 3.1 rad/s, 360˚/s
* 1 : Conforms to JIS B 8432.
T -axis (wrist twist) 3.1 rad/s, 360˚/s * 2 : Gravitational units are shown in parentheses.
* 3 : Varies in accordance with applications and motion patterns.
8 * 4 : Including parts mounted in the wrist
Note: SI units are used for specifications.
MOTOMAN-EPX2900
Large painting robot, 20-kg payload Hollow arm (Hollow process arm)*

Large robot for painting large workpieces with greater


efficiency and quality!
 Optimum for painting large-size workpieces such as car bodies.
 Color change valves (CCV) and the gear pump are mounted on the arm. Fine control
of painting is available, by solenoid valves and electropneumatic regulators inside the
pressurized enclosure. : Inner diameter 70 mm
*

Dimensions Units : mm : P-point Maximum Envelope

02
93 70 .1 Tapped holes M6 (6 holes)
R7 di .D (Depth: 12 mm) (Pitch: 1.0)
C
a P.

116 dia. h7
140 dia.
R29
00
51 51 21.5±0.1
300˚ 5.2 dia. H7 (2 holes)
50

(Depth: 10 mm)
R5

View A
1692 0 657 696 793 2900 Tapped holes M8 (4 holes)
300 1400 180 (Depth: 13 mm) (Pitch: 1.25)
60 169
30˚ 3350

20
2921 470 492

50
20
B ˚
290

223

30
P-point 2421
20
T A
100

U R B
98.7

50˚
1200

View B
11

L 80 210

550

1043
50 200 370±0.2
750 22 dia. 300

250
750

(6 holes)
410
335 335

S
0

500
670

C 139 380±0.1 380±0.1


560
498 12 dia. H7
210±0.1
250
340±0.1

R1000 (Protection hose range)* (2 holes)


(from the S-Axis rotation center)
1060 160±0.1 310±0.1

* : Protection hose interference 50 200 300


0
355

1428

2743

range is different according


to customer’s condition.
View C
Manipulator Specifications
H-type Wrist

Model MOTOMAN-EPX2900 R -axis (wrist roll) 72.0 N·m (7.3 kgf·m)


Allowable
Type
Controlled Axis
YR-EPX2900- 0
* **
6 (Vertically articulated)
Moment*2
B -axis (wrist pitch/yaw)
T -axis (wrist twist)
51.5 N·m (5.2 kgf·m)
19.6 N·m (2.0 kgf·m)
Payload 20 kg Mass 1030 kg
Repeatability*1 ± 0.5 mm Temperature 0 to +45˚C
S -axis (turning) − 150˚ − +150˚ Ambient Humidity 20 to 80%RH (non-condensing)
L -axis (lower arm) − 50˚ − +110˚ Conditions Vibration 4.9 m/s2 or less
Range of U -axis (upper arm) − 70˚ − +90˚ Others Free from excessive electrical noise (plasma)
Motion R -axis (wrist roll) − 360˚ − +360˚ Power Requirements*3 max. 5.0 kVA
B -axis (wrist pitch/yaw) − 360˚ − +360˚ Installation Floor-mounted
T -axis (wrist twist) − 360˚ − +360˚ Max Weight of Painting Devices on Arm 50 kg including parts mounted in the wrist
S -axis (turning) 2.7 rad/s, 155˚/s Combination of pressurized ( fia 2 G 4 ) and
Type of Explosion-proof
L -axis (lower arm) 2.2 rad/s, 125˚/s intrinsic safety (ia2G4).
Maximum U -axis (upper arm) 2.7 rad/s, 155˚/s Explosion Proof Certification TIIS (Certified),FM (Certified),ATEX (Certified)
Speed R -axis (wrist roll) 7.9 rad/s, 450˚/s
*12 :: Conforms to JIS B 8432.
B -axis (wrist pitch/yaw) 9.6 rad/s, 550˚/s *3 : Gravitational units are shown in parentheses.
T -axis (wrist twist) 11.3 rad/s, 650˚/s * Varies in accordance with applications and motion patterns.
Note: SI units are used for specifications.

9
CONTROLLER
Specialized Controller for Painting

Standard
St d d type
t Explosion-proof type
Dimensions Units: mm
Note: The following drawings shows models with Japanese specifications. Dimensions Programming Pendant
of models designed in accordance with FM or ATEX certification are different.

Applicable Models Applicable Models


MOTOMAN-EPX1250, EPX2050 (Lemma wrist), EPX2750 (Lemma wrist) MOTOMAN-EPX2050, EPX2700, EPX2800, EPX2800R, EPX2900

Approx. mass: 120 kg Approx. mass: 200 kg


Brake release unit Fluorescence lamp (Optional) 30 381.6 188.4
(69)

(Optional) Cooling unit


175 450 175 220 250 130
(Optional)

(69)
232.3
Emergency
危 険
stop button
WARNING

Emergency
Main power stop button Circuit
supply switch breaker

850
1400

Pneumatics

1191
1200
Connector Unit
for P.P. (×81) Connector
for P.P. (×81)
For fixing & attaching
additional cabinet For fixing & attaching
tapped holes M10 additional cabinet
(4 holes) tapped holes M10

30
30

30

2×Door Lock (Depth: 14 mm) (4 holes)


(Depth: 14 mm)
500 20 480 20 800 (174) 20 530 20
9

30 520 2×Door lock 30 570


Fixing jig 550 Fixing jig
(Provided by user) (Provided by user) 600

Controller Specifications Functions


Configuration Free-standing, enclosed type Coordinate System Includes joint, rectangular/cylindrical, tool, and user coordinates
Cooling System Indirect cooling Modification of Teaching Points Adding, deleting or correcting robot axes and external axes.
Ambient Temperature During operation: 0˚C to +40˚C / During storage: −10˚C to +60˚C Inching Operation Allows inching
Relative Humidity 90% max. (non-condensing) Locus Confirmation Includes forward/reverse and continuous feeding
Three-phase 200/220 VAC (+10%, − 15%) at 60 Hz (Japan) Speed Adjustment Allows automatic speed adjustment to match cycle time
Operation

Power Supply
Three-phase 200 VAC (+10%, − 15%) at 50 Hz (Japan) Timer Setting Possible every 0.01 s
Grounding resistance: 100 Ω or less Short-cut Function Includes direct-open function
Grounding Note: When using an explosion-proof programming pendant, the CF (Compact Flash) card slot
grounding resistance must be 10 Ω or less and 100 Ω or less. Standard type: At programming pendant
Specialized signals: 17 inputs and 3 outputs Interface Explosion-proof type: At front panel of controller
Digital l/Os General signals:    40 inputs and 40 outputs RS232C (At Control Circuit Board)
Max.I/O (optional): 1,024 inputs and 1,024 outputs LAN (100BASE-TX/10BASE-T) (At Control Circuit Board) (Optional)
Positioning System By serial encoder Essential Measures Japanese Industrial Standard (JIS)
Programming JOB: 60,000 steps, 10,000 instructions Running Speed Limit User definable
Safety Features

Capacity CIO ladder: 10,000 steps max. 3 position type. Servo power can be tumed on at the
Enable Switch
Expansion Slots PCI: 2 slots for main CPUs and 1 slot for servo CPU middle position only. (Located on programming pendant)
LAN (Connection to Host) 1 (10BASE-T/100BASE-TX) Collision Proof Frames Includes doughnut-sector frame, cubic frame (user coordinates)
Interface RS-232C: 1ch Self-diagnosis Classifies errors and two types of alarms (major and minor) and displays the data
Control Method Software servo control User Alarm Display Displays alarm messages for peripheral devices
For robot axes: One drive unit for AC servo with 6 axes Machine Lock Allows test-run of peripheral devices without robot motion
Drive Units Time required for replacement: 5 minutes (One unit includes amplifiers for 6 axes) Door Interlock Allows door to open only when main power switch is OFF.
For external axes: Combined converter and amplifier per axis. (optional)
Maintenance Function

System Monitoring Controls power-ON time, servo power-ON time,


Painting Color Munsell notation 5Y7/1 (reference value) Time Display playback time, moving time, operating time
Communication Port CC-Link, DeviceNet (Registered tradmark of the ODVA) Alarm Display Displays alarm messages and previous alarm records
I/O Diagnosis Provides simulated enabled/disabled output possible
T.C.P. Calibration Automatically calibrates parameters for end effectors
Programming Pendant Specifications Programming Interactive Programming
Type Standard Explosion-proof Robot Motion Control Includes joint coordinates, linear/circular interpolation, and tool coordinates
Dimensions 169 (W) × 314.5 (H) × 50 (D) mm 235 (W) × 203 (H) × 78 (D) mm Uses percentage for joint coordinates, 0.1 mm/s, for
Speed Setting
Mass 0.986 kg 1.25 kg interpolations, angular velocity for TCP fixed motion
Programming Function

Material Reinforced plastics Reinforced plastics Program Control Includes jump, call, timer, pause, execution of some
Select keys, axis keys, numerical/ Instruction instructions during robot motion
application keys, mode selector Variables Global, local variables
Select keys, axis keys,
switch with keys (mode: teach, play, Types Byte, integer, double integer, real, character, position
Operation numerical/application keys,
and remote), emergency stop
Device emergency stop button, I/O Instructions Includes discrete I/O control and pattern I/O processing
button, enable switch, compact
enable switch Painting Unit Includes spray ON/OFF (anticipation available) and
flash card interface device (compact
flash is optional.), USB port (1 port) Control Instructions painting conditions output
5.7-inch color LCD, touch panel 5.7-inch monochrome LCD, backlit Painting Multi-gun shift (up to 4 guns available)
640 × 480 pixels white LED, touch panel 320 × 240 pixels Characteristics Includes amount of spray, pattern, atomizing, high-voltage,
Display (Alphanumeric characters, Chinese (Alphanumeric characters, Chinese Filing delay time of spraying, delay time of atomizing
characters, Japanese letters, Others) characters, Japanese letters, Others) Includes 3-dimensional shift, optional setting
Utilities
Others

IEC Protection Class IP65 IP54 coordinate shift, mirror imaging, robot zero-point check
Standard: 8 m, Max. : 36 m Standard: 8 m (20 m optional), Automatic Operation Job registration table
Cable Length (with optional extension cable) Max. : 50 m (with optional extension cable) Conveyor Synchronization Allows static conveyor teaching
10
MOTOFEEDER
Special Workpiece Feader

 With a robot mounted on a MOTOFEEDER used for small workpieces


(Max: 800 mm × 800 mm), a smaller space is required.
 Both indexed positioning and spindle rotations are possible.
 Air panels for painting devices are available (optional).

Dimensions Units : mm : P-point Maximum Envelope

22 mou
(4
dia nti
200±0.05
760

.
10 dia. H7 (4 holes) 12 dia. H7

66
(Depth: 18 mm) 480 280 (2 positioning pin holes)

ng

R5
435 235 00

ho
Tapped holes M10
(2×6 holes) 22.5° R9

les
460±0.05 260±0.05

)
(Depth: 18 mm) 7
ia. H m)
40 d th: 6 m
(Dep
30 °

305
235
30°
(800)

560

700
235

305
5
.12
.D
8 0

P.C
ia.
D.1
0d

270±0.05
C.
P.

22

(800)
View A and B (Max. workpiece size)

200 606.5
520 86.5
86

P-point
650

EPX1250
1800
960

A B Table
310

900 900
(200)
80

200

19.2

Arm
820
585.6

620

Drive for table rotation


44
29

Drive for arm rotation

350 (532)

MOTOFEEDER Standard Specifications MOTOFEEDER Lineup


Items Specifications EPX1250: Mounted; table pitch: 1,600 mm
Number of Axis 2 EPX1250: Mounted; table pitch: 1,800 mm
Control Method AC servo drive control
(See the dimensional drawing on this page.)
Explosion-proof Structure Pressurized enclosure (fia2G4) + intrinsic safety (ia2G4)
Table for heavy loads: 40 kg EPX1250: Not mounted; table pitch: 1,400 mm
Max Weight
Table for high-speed rotation: 20 kg EPX1250: Not mounted; table pitch: 1,600 mm
Repeatability ± 0.55 mm, when table R is 300 mm. EPX1250: Not mounted; table pitch: 1,800 mm
Arm: − 180°to +180° EPX2050-A300: Not mounted; table pitch: 1,400 mm
Motion Range
Table: Continuous rotation
EPX2050-A300: Not mounted; table pitch: 1,600 mm
Arm: 120˚ /s
Max Speed Table for heavy loads: 270˚ /s EPX2050-A300: Not mounted; table pitch: 1,800 mm
Table for high-speed rotation: 900˚ /s Note: Contact your Yaskawa representative for more information.
Allowable Moment Table: 452 N·m (46.1 kgf·m)
Allowable Moment of Table for heavy loads: 49.6 kg·m2
Inertia (GD2/4) Table for high-speed rotation: 1.54 kg·m2
Mass 420 kg
Temperature 0 ℃ to + 40℃
Ambient Humidity 20 % to 80% RH (non-condensing)
Conditions Vibration 4.9 m/s2 or less
Others Free from excessive electrical noise (plasma)
Air Panel (Optional) Analog control for both one or two guns
Others Continuous rotation or indexed positioning
11
MOTOMAN-EPX Series

Sales Department
HEAD OFFICE
2-1 Kurosaki-Shiroishi, Yahatanishi-ku, Kitakyushu, Fukuoka 806-0004, Japan
Phone: +81-93-645-7745 Fax: +81-93-645-7746
YASKAWA America, Inc.
100 Automation Way, Miamisburg, OH 45342, U.S.A.
Phone: +1-937-847-6200 Fax: +1-937-847-6277
YASKAWA Europe GmbH
Kammerfeldstr. 1, 80591 Allershausen, Germany
Phone: +49-8166-90-0 Fax: +49-8166-90-103
YASKAWA Nordic AB
Bredbandet 1vån. 3 varvsholmen 392 30 Kalmar, Sweden
Phone: +46-480-417-800 Fax: +46-480-417-999
YASKAWA Electric (China) Co., Ltd.
12F, Carlton Bldg., No.21 HuangHe Road, HuangPu District, Shanghai 200003, China
Phone: +86-21-5385-2200 Fax: +86-21-5385-3299
YASKAWA SHOUGANG ROBOT CO., LTD.
No.7 Yongchang North Road, Beijing E&T Development Area China 100176
Phone: +86-10-6788-2858 Fax: +86-10-6788-2878
YASKAWA Robotics India Limited
#426, Udyog Vihar Phase-IV, Gurgaon, Haryana, India
Phone: +91-124-475-8500 Fax: +91-124-475-8542
YASKAWA Electric Korea Co., Ltd
9F, Kyobo Securities Bldg., 26-4, Yeouido-dong, Yeongdeungpo-gu, Seoul 150-737, Korea
Phone: +82-2-784-7844 Fax: +82-2-784-8495
YASKAWA Electric (Singapore) PTE Ltd
151 Lorong Chuan, #04-02A New Tech Park, Singapore 556741
Phone: +65-6282-3003 Fax: +65-6289-3003
YASKAWA Electric (Thailand) Co. Ltd.
252/246, 4th Floor Muang Thai-Phatra Office Tower  Rachadapisek Road,
Huaykwang Bangkok, 10320 Thailand
Phone: +66-2-693-2200 Fax: +66-2-693-4200

YASKAWA ELECTRIC CORPORATION

In the event that the end user of this product is to be the military and said product is to be
employed in any weapons systems or the manufacture thereof, the export will fall under the
relevant regulations as stipulated in the Foreign Exchange and Foreign Trade Regulations.
Therefore, be sure to follow all procedures and submit all relevant documentation according
to any and all rules, regulations and laws that may apply.
Specifications are subject to change without notice
LITERATURE NO. KAEP C940420 05A
for ongoing product modifications and improvements. Published in Japan May 2012 12-5
© 2012 YASKAWA ELECTRIC CORPORATION. All rights reserved. 12-1-29

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