Handling Robot for Picking and Packing

MOTOMAN-MPP and MPK Series

Certified for

ISO9001 and

ISO14001

R009QMS Accreditation JQA-EM0924JQA-0813

The MOTOMAN-MPP and MPK series offer logistics with automated transfer systems for the picking and packing processes.

PickingMOTOMAN-MPP3High productivity

Example of food manufacturing

High level of cleanliness

The MPP series of robots can be installed in close proximity in a

small space. As the best in their class, they also enable high-speed

handling with a large motion range and improve productivity.

The MPP series of robots are designed to maintain high level of

cleanliness for food handling.

Flexible and high-speed handling is maximized by using a function

specially designed to synchronize two conveyors, the vision function

and the production management function.

Large motion range with a small installation space

***

1

23

:

::

Handling in Adept cycle (25 mm × 305 mm × 25 mm) without positioning limit. Does not include the time for using suction to grab a workpiece.Cycle per minuteWith a limit in continuous operations

* : For details, refer to the catalog for the MOTOMAN-MPL Series (KAEP C940560 01).

100

50

4

2

200 150 100 50

Feeder forsmall containers

Packaging machine

Handling Capacity (Cycle Per Minute)

Food manufacturingmachine

Feeder forlarge cardboard boxes

Paylo

ad

(kg

)

MOTOMAN-MPP3MOTOMAN-MPK2, MPK2F

MOTOMAN-MPL Series*

MOTOMAN-MPK50

Picking 1 Picking 2 Packing Palletizing

Placing one or two products

at a time on a tray or in a box

Bagging products and boxing

small wrapped products

Packing one row

or layer of

products in a box

Stacking boxes

on pallets

150 CPM*2 with a 3-kg load and 230 CPM*3 with a 1-kg load are possible.

Allowable inertia of the wrist is 0.017 kg・m2, and high-speed handling with two hands is possible.

Largest range of motion for robots with 3-kg payload: 1300 mm (dia.) × 500 mm (H)

Smallest installation space for robots with 3-kg payload: 750 mm dia.

Because they can be mounted on ceilings and maintenance is done from the top downwards, damage or contamination of workpieces and conveyors is prevented if a work tool, part, or grease falls during maintenance.

The surface of the body, excluding arms, is smooth and easy to clean.

Food-grade lubricant is used (NSF H1 registered).2

High flexibility in layout design

PickingMOTOMAN-MPK2, MPK2F

193 223

PackingMOTOMAN-MPK50

500

400

90

125

600

Multi-purpose

With a high-payload, a wide motion range, and a wide variety of the

components, the MOTOMAN-MPK50 can be used as a palletizing

robot for small workpieces.

R751

R1893

R561

* : Does not include the time for grabbing and releasing a workpiece.

(Minimum turning radius)

Motion pattern 2Motion pattern 1

・

・

Simultaneous positioning & transfer

Max. speed of T-axis increased to 2000°/s

High productivityWith the fastest motion speed in its class, the MOTOMAN-MPK2 and MPK2F can quickly transfer

many workpieces in a short period. Smooth, continuous operation is possible with high precision.

High-speed positioning

Motion pattern 10.47 sec(128 cycles/min: 2 kg)

Motion pattern 20.86 sec(70 cycles/min: 2 kg)

Cycle time*High-speed, continuous operation

Motion pattern 1(Picking pattern)

Motion pattern 2(Packing pattern) * : Does not include the time

for grabbing and releasing a workpiece.

25 mm

25 mm300 mm

200 mm140 mm

130 mm

・

・

Manipulator’s high level of cleanliness guarantees saｆety

and sanitation of the transferred products.

・

・

Exposed parts made from corrosion-resistant materials with surface treatment and washable coating

Cable and hoses protected in hollow shaft of arm

High level of cleanliness

Countermeasures against contamination

Protection against corrosion & dust

・・

No depressions of grooves to hold dirt

Particles do not collect or adhere.

Protection against dirt & particles

・・

Multi-layered sealing construction on all drive shafts

Food-grade lubricant used (NSF H1 registered)

Protection against lubricants ・・・

Washable coating withstands daily washing

Can be washed with disinfectants, including acidic or alkaline liquids.

Water-proof performance conforms to IP67 specifications (with tools mounted).

Protection against disinfectant washing

Stain-resistant surface and structure, washable coating,

and water proofing against daily disinfectant washing.

Washability (Disinfectant)

On walls On floorsDimensions

Enables flexibility regardless of space restrictions

or installation method for high-density layouts.

Space-saving installation

All installation methods possible

On ceiling

High productivityWith a high payload and the highest speed in its class, many more workpieces can

be picked up and packed in a short period of time.

Increased efficiency by transferring and packing many

workpieces from a single row or layer at one time.

High-speed packing High-speed handling

1014.5

508.5506

(Maximum width)

・1.1 sec(55 cycles/min: 30 kg)

Cycle time*

・0.6 sec(100 cycles/min: 40 kg)

Cycle time*

Max. payload: 50 kg

Maximum horizontal reach (T-point): 1893 mm, Vertical motion range: 1668 mm, S-axis turning range: －180˚ － +180˚

Wide motion range (Palletizing also possible)

One cable (23-core), two air hoses (dia.: 10 mm), and one tube for field-bus cable (dia.: 12 mm) accommodated in hollow arm.

Wide variety of components

Protection Class

Options Food-grade lubricant for food machinery

Can transfer many workpieces at one time

Space-saving installation

Compact design increases usability in restricted

spaces or in high-density layouts.

Shortened maximum width

Minimized minimum turning radius

T-point maximum envelope

Packaging machine

Feeder

T-point

Body: IP54 (optional: IP65), Wrist: IP67

3

Optimum controller for handling and assembly

Open controller

・・・・・・・

High-speed Compact Controller for Handling FS100

Hardware Options Optional Functions

・・・・・・・・・

Energy saving mode (with servomotor turn off limit)

Software pendant

Network (data transfer, FTP, Ethernet server)

Bilingual display (Shown in the required language.)

Items

Configuration

Dimensions

Mass

Cooling System

Ambient

Temperature

Relative Humidity

Power Supply

Grounding

Digital l/Os

Positioning System

Programming

Capacity

Expansion Slots

LAN (Connection to Host)

Interface

Control Method

Drive Units

Painting Color

Standard: IP20 (open structure)

Option : IP54 (dustproof housing)

For MPP3/MPK2F: 470 (W)×420 (D)×200 (H) mm

20 kg

Direct cooling

During operation: 0˚C to +40˚C

During storage : ‒10˚C to +60˚C

90% max. (non-condensing)

Three-phase 200/220 VAC (+10% to ‒15%), 50/60 Hz

Grounding resistance: 100 Ω or less

Specialized signals: 12 inputs and 12 outputs

General signals : 16 inputs and 16 outputs

Max. I/O (optional) : 1,024 inputs and 1,024 outputs

By serial encoder

JOB: 10,000 steps, 1,000 instructions

CIO ladder: 1,500 steps

MP2000 bus × 5 slots

1 (10BASE-T/100BASE-TX)

RS-232C: 1ch

Software servo control

Four to six axes for robots (Varies according to model number.)

Two more axes can be added as external axes. (Can be installed

in the controller.)

Munsell notation 5Y7/1 (reference value)

FS100 Controller SpecificationsItems

Dimensions

Mass

Material

Operation

Device

Display

IEC Protection Class

Cable Length

169 (W)×314.5 (H)×50 (D) mm

0.990 kg

Reinforced plastics

Select keys, axis keys (8 axes), numerical/application

keys, Mode switch with key (mode: teach, play, and

remote), emergency stop button, enable switch, compact

flash card interface device (compact flash is optional.),

USB port (1 port)

640×480 pixels color LCD, touch panel

(Alphanumeric characters, Chinese characters, Japanese letters, Others)

IP65

Standard: 8 m, optional: 20 m max.

Programming Pendant SpecificationsSpecificationsSpecifications

Optional

Optional

Note: A programming pendant or a dummy connector is required with the FS100. (Sold separately.)

Programming pendant (model: JZRCR-YPP03-1) For maintenance, the programming pendant is required. One programming pendant can be used with more than one controller.

Dummy connector (model: CBL-FRC063-1)

The dummy connector must be inserted when the programming pendant is not connected or when the software pendant is used.

Conveyor synchronization

TCP

Relative job

Coordinated control

Servo float

・・・・・

Vision function

External reference point control

Independent control

Search

Automatic backup

The FS100 is a compact controller with improved performance and functions optimized

for handling and assembly. Can be used with robots with a 20-kg payload or less.

Fits in a 19-inch rack and can be installed under conveyors.

Improved performance and high-speed control obtained by improving resolutions for I/O commands as well as by reducing time for ladder scanning.

High-speed positioning achieved by suppressing vibration of hands (MPP3/MPK2F).

Commands specifically designed for workpiece handling with synchronized conveyors.

Custom-made functions and windows can be created for various purposes and users.

MotoPlus

Optional

Optional

Sophisticated and flexible robot control programs that were not possible with INFORM and CIO ladder programs can be developed by using C languages.

Customization of programming pendantOperation windows for the programming pendant can be customized using VC++ and C# languages in accordance with needs and applications.

Interface panels

The windows in the operation panel can be created to look the same in the programming pendant.

Programming pendant

IP54 protective structure

External axis (max.: 2 axes)

I/O module (28 points, NPN or PNP)

Counter module (2 channels)

Analog I/O module (8 channels)

Major fieldbus interface boards

DeviceNet (master/slave), CC-Link (slave), PROFIBUS (slave), Ethernet/IP (slave, I/O communications)

4

Robot controller can control up to 72 axes (8 robots). Its higher instruction processing speed, increased

functions, and slim profile minimize the space required for production equipment and improve productivity.

Controller DX100

DX100 Controller Specifications

Camera

Transmit data on workpiece position

Obtain data on workpiece position

Tray

FS100 controller

MOTOMAM-MPP3

Conveyor for placing

Conveyor for picking

Workpieces

Picking & Packing Software MotoPick

MotoPick

Optional

MotoPick provides support for picking and packing with the software applications specially designed for those operations.

A pattern for the arrangement of workpieces moving on a conveyor or a pattern for picking and placing operation can be

easily selected or changed on a computer. This software helps improve overall productivity in conveyor lines.

Realtime automatic scheduling

The motion patterns of the robot in pick and place

applications are controlled based on the position data of

workpieces that have been obtained by the camera and

transferred to the robot’s controller.

Vision function

The camera connected to a computer running MotoPick

can be adjusted and controlled. Data on positions of

individual workpieces moving on a conveyor can

automatically be obtained with the camera.

Note: MotoPick can also be used with the DX100 controller.

Conveyor Synchronization System for the MPP3 with FS100 Controller

Items

Configuration

Dimensions

Mass

Cooling System

Ambient

Temperature

Relative Humidity

Power

Supply

Grounding

Digital l/Os

Positioning System

Programming

Capacity

Expansion

Slots

LAN (Connection to Host)

Interface

Control Method

Drive Units

Painting Color

Items

Configuration

Dimensions

Mass

Cooling System

Ambient

Temperature

Relative Humidity

Power

Supply

Grounding

Digital l/Os

Positioning System

Programming

Capacity

Expansion

Slots

LAN (Connection to Host)

Interface

Control Method

Drive Units

Painting Color

Specifications

Dust proof

Indirect cooling

During operation : 0˚C to +45˚C，During storage : −10˚C to +60˚C

90% max. (non-condensing)

Three-phase 200/220 VAC (+10% to −15%), 60 Hz (±2%)(Japan)

Three-phase 200 VAC (+10% to −15%), 50 Hz (±2%)(Japan)

Grounding resistance : 100 Ω or less

Specialized signals : 23 inputs and 5 outputs

General signals : 40 inputs and 40 outputs

Max. I/O (optional) : 2048 inputs and 2048 outputs

By serial encoder

JOB : 200,000 steps, 10,000 instructions

CIO ladder : 20,000 steps

PCI : 2 slots for main CPUs and 1 slot for servo CPU

1 additional slot for sensor board

1 (10BASE-T/100BASE-TX)

RS-232C : 1ch

Software servo control

Standard 6 axes and 2 additional single-axis amplifiers can

be mounted (8 axes max.)

Munsell notation 5Y7/1 (reference value)

For MOTOMAN

-MPK2

For MOTOMAN

-MPK50

For MOTOMAN

-MPK2

For MOTOMAN

-MPK50

425 (W)×450 (D)×1200 (H) mm

(Possible to control two external axes)

425 (W)×570 (D, including protrusions on the back)×1200 (H) mm

(Possible to control two external axes)

100 kg max.

150 kg max.

Items

Dimensions

Mass

Material

Operation

Device

Display

IEC Protection Class

Cable Length

Specifications

169 (W)×314.5 (H)×50 (D) mm

0.990 kg

Reinforced plastics

Select keys, axis keys (8 axes), numerical/application keys,

Mode switch with key (mode : teach, play, and remote),

emergency stop button, enable switch, compact flash card

interface device (compact flash is optional.), USB port (1 port)

640×480 pixels color LCD, touch panel

(Alphanumeric characters, Chinese characters, Japanese

letters, Others)

IP65

Standard : 8 m, Max. : 36 m (with optional extension cable)

Programming Pendant Specifications

5

MOTOMAN-MPK2, MPK2F

Standard TypeModel: YR-MPK0002-B00 (for DX100)

Model: YR-MPK002F-B00 (for FS100)

Built-in Base TypeModel: YR-MPK0002-B01 (for DX100)

Model: YR-MPK002F-B01 (for FS100)

R900

100

170°

170°

R303

R229 45°

Tapped holes M6(4 holes)(Depth: 8.5)(Pitch: 1.0)

P.C

.D.50

5 (fitting depth)

34

15

( 22

.2)

7.6

View A

20 d

ia.

63 d

ia.

0 − 0.0

19

6 dia. (1 hole)(Depth: 6)+0.0120

R900

100

170°

170°

R303

R229

Pin Numbers

1 (Yellow)2 (White)3 (Red)4 (Blue)5 (Green)6 (Orange)

Enlarged View of Tip

4 Air Hoses(OD = 4 mm,ID = 2.5 mm)*

AIR1AIR2AIR3AIR4

Reserved Cable(0.2 mm2×6 wires)

*: OD: Outside Diameter ID: Inside Diameter

193 223

33

0

467

963

0 900

65

303

1560

900

303

23

3

30

3

30

3

S

0

550 70

L

UB

T

A

P-point

66

0

B

35

010

0

11

10

120°12

0°

15°15°

Tip

250

180

C23

32

50

100°

A

D

E

193 223

0

293

227

723

0 900

305

303

1320

900

303

233

189

303

303

S

0

550 70

L

UB

T

P-point

42

03

50

100

87

0

120°12

0°

102°

15°15°233

189

Tip

230

230

57

34

25

0

102°

30°30°30° 30°30°30° 30°30°30°30° 30°30°

170±

0.1

330

295

170±0.1

330295

155±

0.1

155±

0.1

130±0.1

170

4-Inlet4-PT1/8

Connector for internal user I/O wiring harness: RM15WTRZ-10P (with cap)Matching connector: RM15WTPZ-10S*HIROSE* (provided by users)

View B View C

12 dia. (4 holes)

4-Inlet4-PT1/8

Connector for internal user I/O wiring harness: RM15WTRZ-10P (with cap)Matching connector: RM15WTPZ-10S*HIROSE* (provided by users)

172

17

2

Baseplate Hole

330

295

View D View E

170±

0.1

33

0

29

5

155±

0.1

155±

0.1

170±0.1

130±0.1 12 dia. (4 holes)

300 dia.

6 dia. (2 holes)(Depth: 6)

+0.0120 6 dia. (2 holes)

(Depth: 6)

+0.0120

Manipulator Specifications

Standard Type

Built-in Base Type

-axis (turning)

-axis (lower arm)

-axis (upper arm)

-axis (wrist pitch/yaw)

-axis (wrist twist)

-axis (turning)

-axis (lower arm)

-axis (upper arm)

-axis (wrist pitch/yaw)

-axis (wrist twist)

5 (vertically articulated)

2 kg

±0.5 mm

－170˚ － +170˚

－120˚ － +120˚

B00: －100˚ － +280˚， B01: －102˚ － +282˚－150˚ － +150˚

－270˚ － +270˚

5.59 rad/s, 320˚/s

5.76 rad/s, 330˚/s

5.76 rad/s, 330˚/s

6.63 rad/s, 380˚/s

34.9 rad/s, 2000˚/s

Allowable

Moment

Allowable Inertia

(GD2/4)

Ambient

Conditions

3.5 N m

1.5 N m

0.065 kg m2

0.012 kg m2

B00: 75 kg, B01: 72 kg

0˚C to +40˚C

20 to 80%RH (non-condensing)

4.9 m/s2 or less

1.5 kVA

Free from corrosive gasses or liquids,

or explosive gasses

Free from exposure to oil, or dust.

Free from excessive electrical noise (plasma)

S

L

U

B

T

S

L

U

B

T

-axis (wrist pitch/yaw)

-axis (wrist twist)

-axis (wrist pitch/yaw)

-axis (wrist twist)

B

T

B

T

Temperature

Humidity

Vibration

Others

Range of

Motion

Maximum

Speed

Model

Type

Controlled Axis

Payload

Repeatability*1

MOTOMAN-

Power Requirements*2

Mass

**

12

::Conforms to JIS B 8432.Varies in accordance with applications and motion patterns.

Note : SI units are used for specifications.

Dimensions Units : mm : P-point Maximum Envelope

2 kg payload, R900 mm maximum reach

MPK2 (for DX100)

YR-MPK0002-B00

YR-MPK0002-B01

MPK2F (for FS100)

YR-MPK002F-B00

YR-MPK002F-B01

6

MOTOMAN-MPK50

30° 30° 30°30°

50 kg payload, R1893 mm maximum reach

R751

Tapped holes M8(4 holes)(Depth: 16)

80

R1893

180

180°

180°

R561

Dimensions Units : mm : T-point Maximum Envelope

T

U

L

S

12971227

752

427

260

198

0

Tapped holesM12 (4 holes)(Depth: 20)

226

1442

0

T-point

16

73

11

43

93

6

75

1

73

16

69

62

1

95

18

93

40

22°

210

28

3.5

15 °

105°

35° 80°

16

5

16

53

.5 80

06

00

1324

155800200

R680

2002

B

A

C

1014.5

508.5506

View C

8-22 dia.

23

0± 0

.1

230±0.1

195±0.1195±0.1

19

5±

0.1

19

5± 0

.1

400

38

5

32

0

230

12 dia. (2 holes)+0.0180

MOTOMAN-MPK50

YR-MPK0050-A00

4 (vertically articulated)

50 kg

±0.5 mm

－180˚ － +180˚

－35˚ － +80˚

－105˚ － +15˚

－350˚ － +350˚

3.23 rad/s, 185˚/s

3.75 rad/s, 215˚/s

3.75 rad/s, 215˚/s

6.53 rad/s, 374˚/s

Allowable Inertia

(GD2/4)

Ambient

Conditions

5.5 kg m2

670 kg

0C̊ to +45C̊

20 to 80%RH (non-condensing)

4.9 m/s2 or less

4.0 kVA

Free from corrosive gasses or liquids, or

explosive gasses

Free from exposure to water, oil, or dust

Free from excessive electrical noise (plasma)

-axis (wrist twist)T

Temperature

Humidity

Vibration

Others

Range of

Motion

Maximum

Speed

Model

Type

Controlled Axis

Payload

Repeatability*1

Power Requirements*2

Mass

**

12

::Conforms to JIS B 8432.Varies in accordance with applications and motion patterns.

Note : SI units are used for specifications.

-axis (turning)

-axis (lower arm)

-axis (upper arm)

-axis (wrist twist)

-axis (turning)

-axis (lower arm)

-axis (upper arm)

-axis (wrist twist)

S

L

U

T

S

L

U

T

Manipulator Specifications

View B

A B

Connector for internal user I/O wiring harness (Base side):JL05-2A24-28PC (with cap)Matching connector:JL05-6A24-28S (provided by users)

Air Inlet (A, B)2-PT3/8with pipe plug

Tube for Field bus Cables (ID=12 mm) (Robot base)

View A

30°

Tapped holes M8(6 holes)(Depth: 12)

6 5

P.C.D.100 8 dia. (1 hole)(Depth: 10)

63 dia. (1 hole)(Depth: 5)+0.0300

125 dia. (1 hole)(Depth: 6)0−0.025

+0.0150

7

MOTOMAN-MPP and MPK Series

MOTOMAN-MPP3

Dimensions Units: mm : P-point Maximum Envelope Manipulator SpecificationsMOTOMAN-MPP3

YR-MPP0003-A00

Parallel link (4 degrees of freedom)

3 kg

±0.1 mm

±1 arc-min or less

1300 mm (dia.) × 300 mm (H)

1 kg : 230 CPM*2

3 kg : 150 CPM

20.94 rad/s, 1200°/s－360° － +360°

0.017 kg m2

115 kg

IP65

0˚C to +40˚C

20 to 80%RH (non-condensing)

4.9 m/s2 or less

1.5 kVA

Maximum Speed

Range of Motion

Allowable Inertia (GD2/4)

Temperature

Humidity

Vibration

Others

Model

Type

Controlled Axis

Payload

Repeatability*1

Repeatability (T-axis rotation)

Range of Motion

Cycle Time for 25×305×25 mm

motion pattern

T-axis

Mass

IEC Protection Class

Ambient

Conditions

Power Requirements*3

***

123

:::

Conforms to JIS B 8432.With a limit in continuous operationsVaries in accordance with applications and motion patterns.

Note : SI units are used for specifications.

10 °

120°

120°

12

10

20

0

P-point

5°

P.C.D

.710

(With equal intervals between three holes)3×Tapped holes M16 (2 holes)(Depth: 40)

R533

10

86

750 dia.

750 dia.

1300 dia.

1300 dia.

30

0

A

T

View A

Free from corrosive gasses or

liquids, or explosive gasses

Free from excessive electrical

noise (plasma)

Tapped holes M5(4 holes)(Depth: 9)

5 dia.　　　(1 holes)(Depth: 7)(For positioning)

+0.0120

P.C.D.31.5

3 kg payload, 1300 mm (dia.)×500 mm (H) maximum reach

Specifications are subject to change without notice for ongoing product modifications and improvements.

© 2009-2011 YASKAWA ELECTRIC CORPORATION. All rights reserved.

LITERATURE NO. KAEP C940440 24C

11-8-26Published in Japan September 2011 09-9 2

YASKAWA ELECTRIC CORPORATION

In the event that the end user of this product is to be the military and said product is to be employed in any weapons systems or the manufacture thereof, the export will fall under the relevant regulations as stipulated in the Foreign Exchange and Foreign Trade Regulations. Therefore, be sure to follow all procedures and submit all relevant documentation according to any and all rules, regulations and laws that may apply.

Sales Department

HEAD OFFICE2-1 Kurosaki-Shiroishi, Yahatanishi-ku, Kitakyushu, Fukuoka 806-0004, JapanPhone: +81-93-645-7745 Fax: +81-93-645-7746

YASKAWA America, Inc.100 Automation Way Miamisburg, OH 45342, U.S.A.Phone: +1-937-847-6200 Fax: +1-937-847-6277

YASKAWA Europe GmbHKammerfeldstr. 1, 80591 Allershausen, GermanyPhone: +49-8166-90-0 Fax: +49-8166-90-103

YASKAWA Nordic ABBredbandet 1vån. 3 varvsholmen 392 30 Kalmar, SwedenPhone: +46-480-417-800 Fax: +46-480-417-999

YASKAWA Electric (SHANGHAI) Co., Ltd.12F, Carlton Bldg., No.21 HuangHe Road, HuangPu District, Shanghai 200003, ChinaPhone: +86-21-5385-2200 Fax: +86-21-5385-3299

Shougang MOTOMAN Robot Co. Ltd.No.7 Yongchang North Road, Beijing E&T Development Area China 100176Phone: +86-10-6788-2858 Fax: +86-10-6788-2878

YASKAWA Robotics India Limited#426, Udyog Vihar Phase-IV, Gurgaon, Haryana, IndiaPhone: +91-124-475-8500 Fax: +91-124-475-8542

YASKAWA Electric Korea Co., Ltd9F, Kyobo Securities Bldg., 26-4, Yeouido-dong, Yeongdeungpo-gu, Seoul 150-737, KoreaPhone: +82-2-784-7844 Fax: +82-2-784-8495

YASKAWA Electric (Singapore) PTE Ltd151 Lorong Chuan, #04-02A New Tech Park, Singapore 556741Phone: +65-6282-3003 Fax: +65-6289-3003

YASKAWA Electric (Thailand) Co. Ltd.252/246, 4th Floor Muang Thai-Phatra Office Tower Rachadapisek Road,Huaykwang Bangkok, 10320 ThailandPhone: +66-2-693-2200 Fax: +66-2-693-4200