Motoman XRC Series User Manual

INTRODUCTION
SpotWelding Manual for Medar 1-4 MOTO MAN
1.3 System Components
The following paragraphs contain brief descriptions of each of the spot welding
system components.
1.3.1 XRC 2001 Controller
The spot welding system includes an XRC 2001 controller and a programming
pendant. The XRC 2001 provides the following basic functions:
• Power ON
• Job creation
• Input and edit motion data
• Input and edit process data
• Memory for Medar data
• Playback
• Process sequencing
• Power OFF
• Connection to external devices through the pendant’s serial interface port
• Input/output signal processing
The XRC controls the operation, and monitors the status, of the spot welding
system's components: the manipulator, weld control, and spot welding gun. The
various safety features of the spot welding system and the associated cell operate
through the XRC. Under emergency conditions, the XRC controls the shutdown
of the robot drive power, weld current, positioner, and any other devices connected.
Refer to your XRC Operator’s Manual for more information.
1.3.2 Robot
The standard integrated spot welding package includes a vertically articulated, six-
axis, ES-165 robot with a 165 kg payload. The P-point working envelope is 2650
mm (104 inches). The robot can reach below its own base, and can travel in an arc
approximately 360˚ around the base. However, it is possible to restrict the base
axis with hard stops. Weld cables are routed inside the robot arm instead of along
the outside, which protects the cables from damage that can be caused by robot
motion during welding. These robots can be floor-, wall-, or ceiling-mounted.
Motoman robots use brushless AC servo motors with absolute position encoders.
A combination of capacitance and lithium batteries in both robot and controller
assemblies protects program positional data for up to a year. The life expectancy
for the lithium battery is approximately three years.
Power for the robot manipulator is supplied through the controller. A 4.5 KVA
isolation stepdown transformer converts the 230, 460 or 575V delta input to a
208V wye output. Refer to the manipulator manual that came with your system.
NOTE: UP-Series robots or the ES200 robot are available as options for the standard spot welding
package.

Motoman XRC Series Specifications

General

Programming Language	INFORM III
Communication Ports	Ethernet
Power Requirements	200-220 VAC single phase, 50/60 Hz, 1.5 kVA
Mounting	Floor mount
Operating Temperature	0°C to 45°C
Humidity	20% to 80% (non-condensing)
Storage Temperature	-20°C to 60°C