Mrm2-750 S3X Positioner - YASKAWA Motoman ArcWorld IV-6200 XHD DR2C System Manual

RESET
Pressing RESET clears a minor alarm or error. The RESET button is connected to
the robot alarm reset input and is always active.
SERVO ON
The SERVO ON pushbutton enables servo power. In TEACH mode, the SERVO
ON pushbutton operates only when the ENABLE switch on the programming
pendant is held in.
3.4

MRM2-750 S3X Positioner

For detailed information on the MRM2-750 S3X positioner, refer to the Motoman
MRM2-750 S3X Positioner Manual, P/N 147988-1.
The MRM2-750 S3X is a ferris-wheel type reciprocating positioner with two
orbital axes, capable of rotation in conjunction with the primary axis (trunion). It
is AC-servomotor controlled to provide coordinated motion. The patented
servomotors sweep the positioner workstations into and out of the robot envelope,
and also rotate the weld side of the positioner during welding.
A fixture frame is typically mounted between headstock and tailstock faceplates.
Fixtures are either mounted on or integrated into these frames for positioning and
clamping of production parts. Air lines and wiring can be routed to the fixtures if
required. Depending on part's size and weight, single, multiple, or a combination
of parts can be mounted to the frame.
NOTE: In high humidity areas, use surface protection to prevent corrosion of the tooling plates.
The ArcWorld IV-6200 XHD DR2C system is capable of synchronized motion
between various components depending on the job configuration. Synchronized
components move at the same time during operation. Both robots can be
synchronized with the positioner. The ArcWorld IV-6200 XHD DR2C system is
also capable of true coordinated motion, where linear, circular, or spline motion
can be coordinated between robots and the positioner. Coordinated motion allows
the robots to weld while the positioner rotates the parts. For additional information
on coordinated motion, refer to the Independent/Coordinated Motion Manual (P/N
142969-1).
Refer to Table 3-1 for specifications for the MRM2-750 S3X positioner.
MOTOMAN
Table 3-1 Positioner Specifications
Conditions
Max. Capacity
Servo Motors
Index Torque
Index Speed Max.
Index Time
Orbital Torque Static
Orbital Torque Dynamic
Orbital Speed Maximum
Specifications
2 x 750 kg (1653.5 lbs)
1 x 3.2 kW
2 x 2.2 kW
2856 N•m
12.9 rpm
6 sec.
912 N•m
1140 N•m
14.8 rpm
3-9 ArcWorld IV-6200 XHD DR2C System Manual
EQUIPMENT DESCRIPTION