YASKAWA Motoman MH Series - Table 3-2 MH-Series Type II Specifications; Type II Specifications

EQUIPMENT DESCRIPTION
MH-Series Positioner Manual with MotoMount 3-4 MOTOMAN
3.2.1 Type II Specifications
See Table 3-2 for MH-series Type II drive assembly specifications.
* External axis default settings
** Weld capacity is at 100% duty cycle.
*** The In-position Maximum Motion is the maximum motion expected if the
cycle start command is given while the safety zone is violated. This assumes
utilizing the position switches in the safety circuit, and includes the motion
required to clear the switch actuators and implement an E-Stop.
See Appendix A for drive assembly performance charts.
See Section 4.3 for installation instructions.
Table 3-2 MH-series Type II Specifications
Series Component MH1000 MH3000
Motoman P/N 146356-3 146356-4
* Axis Type Rotation Rotation
Rated Load – kgf 1000 3000
Rated MHT Load @ CG Off Center – kgf @ mm 6300 @ 23 6300 @ 69
Headstock Speed – rpm 20.2 6.7
180-degree Sweep Time – sec 1.98 4.95
Rated CG Off Center – mm 152 152
Rated CG Overhang – mm 750 70
Load @ 500 mm CG Overhang – kgf 1400 1400
Rated Inertia – kg*m
2
173 2475
Rated Holding Torque – Nm 1491 4473
**
Rated Weld Current – Amps 1200 1200
Allowable Thrust – kgf 3000 3000
Motor Power – kW 4.5 4.5
* Motor P/N, YEC SGMDH-45A2B-YR14
* Motor Speed – rpm 2000 2000
* Rated Acceleration Time – sec 0.3 0.3
Motor P/N, Motoman 142142-1
Reducer RV-320C
* Total Reduction Ratio – R 11575/117
(98.932 est.)
11575/39
(296.795 est.)
Repeatability – mm/mm TBD .00003
Repeatability w/MotoMount – mm/mm TBD .000055
E-Stop Response – sec TBD .3
E-Stop Response – deg TBD 6
*** In-position Maximum Motion – deg 10
Face Plate Through Hole – mm 110 110
Tail Stock Through Hole – mm 45 45
Drive Assy Weight – kgf/lbs 1180/2600 1180/2600
Standard Tool Radius – mm 1000 1000