Yaskawa Motoman Robot Welder

Yaskawa Motoman UP6 (XRC-controlled) – Robot Specs


Category Specification
Axes 6 articulated
Payload 6?kg (13.2?lb)
Horizontal Reach 1,373?mm (54?in)
Repeatability ±0.08?mm (0.003?in)
Robot Mass ~130?kg (286?lb)
Mounting Floor, wall, ceiling, inverted
Motion Speed S: 140°/s, L: 160°/s, U: 170°/s, R: 335°/s, B: 335°/s, T: 500°/s
Motion Ranges S: ±170°, L: +155/–90°, U: +190/–170°, R: ±180°, B: +225/–45°, T: ±360°
Inertia (kg·m²) R: 0.24; B: 0.17; T: 0.06
Allowable Torque R: 11.8?Nm; B: 9.8?Nm; T: 5.9?Nm
Power Usage ~2?kVA
Environment 0–45?°C, 20–80?% RH, ?0.5?G vibration

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Yaskawa XRC Controller Specs
Feature Details
Model Yaskawa XRC / XRC 2001
Robot Compatibility UP6, UP20, EA series (EA1400N, etc.)
Axis Control Capacity Up to 4 robots or 3 + external axes (total 16–27 axes across versions)
Programming Language INFORM II
Motion Control ARM (Advanced Robot Motion) with smooth path tracking
Analog I/O Features Speed-dependent analog outputs (ARATION/ARATIOF)
Multitasking Supports up to 6 simultaneous tasks
Memory & Backup Automatic PCMCIA backup (configurable, binary mode)
Communication Ports Ethernet (optional), RS 232, PCMCIA card reader
Safety Features Dual-channel E-stop; supports ANSI/RIA safety standards
Teach Pendant Ergonomic pendant, user-friendly interface
Power Input 200–240?VAC 3-Phase, 3–4?kVA (arm + controller)
Peak Power Handling Up to 32?A current, ??7.5?kW output available
Compliance CE, ANSI, RIA depending on region
Advanced Functions Relative Job, Servofloat (compliance motion), collision avoidance
I/O Configuration Concurrent/discrete I/O up to multiple points (via I/O modules)

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Expanded Technical Highlights
• I/O Integration: Modular discrete and analog I/O; supports external fieldbus via I/O cards
• Analog Velocity Output: Configurable instructions (ARATION, ARATIOF) for tools like weld guns or dispensing systems
• Backup Capabilities: Automatic or scheduled backup to PCMCIA to prevent data loss
• Safety Provisions: Emergency stop and mode switching notify and disable servo power promptly
• Peak Power: Controller capable of handling up to 32?A and 7.5?kW, suitable for heavier peripherals

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In Summary
Together, the Motoman UP6 robot and Yaskawa XRC controller offer a highly capable solution for high-speed, precise automation in a compact footprint. You get:
• Excellent repeatability, speed, and flexibility (6?axes, ~1.4?m reach)
• Smart controller features like Advanced Robot Motion, Servofloat, Relative Job offsets
• Strong I/O, safety, backup, and multitasking support with RS232/Ethernet/connectivity