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Dual Arm Robots

Specifications of MOTOMAN Dual Arm Robots

These robots feature two arms each with 7 degrees of freedom plus a rotational axis around the base all driven by electrical servo motors.

The repeatable accuracy of the dual arm robot is ± 0.1 mm, which allows it to be used for demanding assembly and testing applications. Media supplies such a electrical interfaces and air are neatly routed through the robot and are terminated at the robot’s flanges at the end of  the arms allowing this robot to work in an optimal way. he current range comprised three models:

Each of these models link to information about axes speeds, working ranges and provide downloads to 2D and 3D data files.

“D” denotes the DX100 robot controller and “F” relates to the compact FS100 robot controller. Two of these compact controllers are required to control a 15-axes dual arm robot. For further information about robot controllers follow this link.

Additional information about the individual robot axes and a basic explanation how these are programmed is provided below.

Working axes

Teaching of dual arm robots

Teaching this type of robot new tasks is just as easy as programming a regular robot and follows the same principles of the point to point programming method using a teach pendant.

In addition YASKAWA can provide ready made templates for each of the tasks in for instance a lab automation application and this makes it very easy to compile a master program.

In this case there are two arms each featuring 7 axes and these are treated as separate robots. Thanks two YASKAWA’s robot control technology all these axes plus the additional axis around the base can be programmed together.  All positional information is then stored in a single instruction.

Alternatively the robot can be programmed using PC based off-line programming software such as MotoSim or other commercially available packages. The advantage of this method is that the robot does not need to be taken out of production for programming. It is also possible to verify processes, check for collisions and determine cycle times.

Programming of the E-axis

The configuration of the robot is split into R1 (robot arm 1) and R2 (robot arm 2). Each arm has 7 degrees of freedom and 6 of these are programmed in the same way as a regular 6 axes robot using the toggle keys on the teach pendant (S, L, U, R, B & T or Axis, 1,2,3,4,5 & 6).

The additional E-axis is located between the L (lower) and U (upper) axis. This is programmed by pressing the E + and E- keys on the teach pendant. The R1 and R2 arrn together with the additional axis at the robot base are programmed in a single instruction that holds all positional data.

Manual tasks in for instance lab automation can be pre-taught using templates that are combined in a single master program.

Motoman SDA dual arm robot with arm raised

R1

R2

E-axis

S axis or axis 1
L axis or axis 2
U axis or axis 3
R axis or axis 4
B axis or axis 5
T axis or axis 6

Swing:
Lower:
Upper:
Rotate:
Bend:
Turn:

Robot axes

Teach pendant for programming a Motoman SDA dual arm robot E axis on teach pendant Working axes of Motoman SDA dual arm robot Motoman SDA dual arm robot Mail: info.uk@yaskawa.eu.com

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