Equipment Description; Up-Series Robot Description; Dr2C Xrc 2001 Controllers - R1 And R2; Figure 3-1 Dr2C Xrc 2001 Controller - R1 And R2 - YASKAWA Motoman ArcWorld IV-6200 XHD DR2C System Manual

3.1

UP-series Robot Description

The Motoman UP6, UP20, and UP20-6 robots and the XRC 2001 robotic
controller represent state-of-the-art technology in robotics today. The six-axis UP6
robot has a payload of 6 kg (13.2 lbs). It features a 1,373-mm (54.05-inch) reach
and has a relative positioning accuracy of ± 0.08 mm (0.004 inch). The six-axis
UP20 robot has a payload of 20 kg (44.09 lbs). It features a 1658-mm (65.2-inch)
reach and has a relative positioning accuracy of ± 0.06 mm (0.002 inch). The six-
axis UP20-6 robot has a payload of 6 kg (13.2 lbs). It features a 1885-mm (74.21-
inch) reach and has a relative positioning accuracy of ± 0.06 mm (0.0023 inch).
Each robot can reach below its own base as well as behind itself and can be
mounted on the floor, wall, or ceiling with few modifications. However, the S-axis
has been restricted by hardstops for use in this system. For more information, refer
to the manipulator manual that came with your system.
3.2 DR2C XRC 2001 Controllers – R1 and R2
The DR2C (dual robot, two controller) XRC 2001 robotic controllers, shown in
Figure 3-1, features dual-channel safety circuitry. The controller coordinates the
operation of the ArcWorld IV-6200 XHD DR2C system and is configured so that
one controller directs the action of both robots, designated as Robot 1 (R1) and
Robot 2 (R2). The R1 controller coordinates the operation of the entire cell and
delegates tasks to both robots. Both welders (Welder 1 and Welder 2) and positioner
are also controlled by the R1 controller. The R1 controller controls manipulator
movement, processes input and output signals, and provides the signals to operate
the welding system. It maintains variable data and performs numeric processing to
convert to and from different coordinate systems. In addition, the controller
provides the following: main logic functions, servo control, program and constant
data memory, and power distribution. R2 is the slave controller controlled by R1
and has servo amplifier hardware. For more information, refer to the manipulator
manual that came with your system.
BRAKE
RELEASE
CONTROL
ON
MOTO MAN
SECTION 3

EQUIPMENT DESCRIPTION

COMMUNICATIONS
CABLE
R2
Figure 3-1 DR2C XRC 2001 Controller – R1 and R2
BRAKE
RELEASE
CONTROL
ON
POWER
DISCONNECT
3-1 ArcWorld IV-6200 XHD DR2C System Manual
TOP-MOUNT
EXTERNAL AXIS
CABINET
PLAYBACK BOX
SERVO ON MODE EMERGENCY STOP
READY PLAY TEACH
EDIT LOCK
(OFF) ALARM
(ON) REMOTE HOLD START
PROGRAMMING
PENDANT
R1