Robot Optimized for Painting MOTOMAN-EPX...

Certified for

ISO9001 and

ISO14001

Robot Optimized for Painting

MOTOMAN-EPX Series

R009QMS Accreditation JQA-EM0924JQA-0813

Complete product lineup for better surface finish

MOTOMAN-EPX Series

Robot Optimized for Painting

Manipulator lineup in accordance with workpiece size

EPX1250[ Orthogonal wrist ]

EPX2050[ Hollow slim arm ]

EPX2800[ Hollow slim arm ]

EPX2800R[ Hollow slim arm ]

EPX2900[ Hollow arm (Hollow process arm) ]

EPX2700[ Hollow arm ]

EPX2750[ Lemma wrist ]

EPX2050[ Lemma wrist ]

General industrial applications, Small workpiecesMobile telephones, reflectors,etc.

Automotive industry applications, Large workpiecesAutomobile bodies, bumpers, heavy machine, steel products, house material, etc.

S m a l l r o b o t M e d i u m r o b o t L a r g e r o b o t

L a r g e r o b o t

Shelf-mounted type

Wall-mounted type

Rotation

Bending

Bending

Hollow wrist (H-type) Lemma wrist (L-type)

Based on the concept of having a broad range of motion with a compact design, Yaskawa’s MOTOMAN robots continue to

evolve as optimized robot in functions and performance for each application. The rich lineup in the MOTOMAN-EPX series

provides robots with a variety of features, including optimal wrist structures for each type of workpiece, arms with internally

routed hoses, and a high-performance controller. The best robot for the application can be chosen to ensure high-quality painting.

Hoses and cables can

be contained inside the

wrist. No interference

with workpieces can

shorten tact time.

Without any singular point in

front, the EPX robots with

lemma wrists are ideal for

painting horizontal and vertical

planes as well as painting

items in synchronization with

the conveyor.

Wrist Structures

Automotive industry applications, Large workpiecesAutomobile bodies, bumpers, heavy machine, steel products, house material, etc.

Explosion proof certification: Conforms to TIIS, FM, and ATEX.

2

3

Dimensions Units : mm : P-point Maximum Envelope

Floor-mounted

Manipulator Specifi cations

Allowable Moment*2

R -axis (wrist roll) 8.0 N·m (0.82 kgf·m)

B -axis (wrist pitch/yaw) 8.0 N·m (0.82 kgf·m)

T -axis (wrist twist) 3.0 N·m (0.3 kgf·m)

Allowable Inertia(GD2/4)

R -axis (wrist roll) 0.20 kg·m2

B -axis (wrist pitch/yaw) 0.20 kg·m2

T -axis (wrist twist) 0.07 kg·m2

Mass 110 kg

Ambient Conditions

Temperature 0 to +40˚C

Humidity 20 to 80%RH (non-condensing)

Vibration 4.9 m/s2 or less

Others Free from excessive electrical noise (plasma)

Power Requirements*3 max. 1.5 kVA

Installation Floor, Wall, or Ceiling-mounted

Max Mass of Painting Devices on Robot 5 kg including parts mounted in the wrist

Max Mass for Painting Devices on Robot Base 10 kg each for E and F sections (See View B)

Type of Explosion-proof Combination of pressurized (fia2G4) and intrinsic safety (ia2G4).

Explosion Proof Certifi cation TIIS (Certifi ed), FM (Pending), ATEX (Pending)

Ideal for Painting Small Parts!

　The compact design enables a broad range of motion.

　 Space-saving painting booth has been achieved by a compact controller

and various mounting methods for the manipulator.

　 A compact bell gun can be mounted for high-quality painting.

Note: SI units are used for specifi cations.

*1 : Conforms to JIS B 8432.

*2 : Gravitational units are shown in parentheses.

*3 : Varies in accordance with applications and motion patterns.

Model MOTOMAN-EPX1250

Type YR-EPX1250-*0**Controlled Axis 6 (Vertically articulated)

Payload 5 kg

Repeatability*1 ±0.15 mm

Range of Motion

S -axis (turning) −170˚ − +170˚ (−60˚ − +60˚ when mounted on the wall)

L -axis (lower arm) −65˚ − +120˚

U -axis (upper arm) −165˚ − +205˚

R -axis (wrist roll) −190˚ − +190˚

B -axis (wrist pitch/yaw) −145˚ − +145˚

T -axis (wrist twist) −360˚ − +360˚

Maximum Speed

S -axis (turning) 3.23 rad/s, 185˚/s

L -axis (lower arm) 3.23 rad/s, 185˚/s

U -axis (upper arm) 3.23 rad/s, 185˚/s

R -axis (wrist roll) 6.28 rad/s, 360˚/s

B -axis (wrist pitch/yaw) 7.16 rad/s, 410˚/s

T -axis (wrist twist) 8.73 rad/s, 500˚/s

Wall-mounted

MOTOMAN-EPX1250Small painting robot, 5-kg payload

View A

View B

Orthogonal wrist

R510

R1256

170°

170°

128

300

215204

229.5 234

17108

131

45°P.C.D.27.5

3.5

5

260

26

0

30

0

102±0.1 102±0.1

139±

0.1

300

153±0.1

153± 0

.1

390 9

53

0

9530

350

139±

0.1

310

520

130

86

10

46

200 520 86.5

70°

65°

2063

486

1366

T

B

U

L 1852

R

140°

120°

S

310 520 130 86

1046

20

08

6.5

70°

65°

20

63

486 1366

T

B

U

L

1852

R

140°

120°

S

520

R510

R1256

128

300

60° 60°

A

B

E :Tapped holes M6(2 holes) (Pitch: 1.0)

F :Tapped holes M6(2 holes)(Pitch: 1.0)

Model: - A000 Rear feedercable connection

Model: - A002 Bottom feedercable connection

20 d

ia. H

6

36 d

ia. h

6 Tapped holes M5(4 holes) (Depth: 9 mm)(Pitch: 0.8)

5 dia. H7(1 hole) (Depth: 6 mm)

12 dia. H7 through holesfor reference (2 holes)

Scavenging port 12 dia.(air hose outside diameter)

18 dia.through holes(4 holes)

Exhaust port 12 dia.(air hose outside diameter)

Model: - A000 Rear feedercable connection

Model: - A002 Bottom feedercable connection

P-point

P-point

4



MOTOMAN-EPX2050Medium painting robot, Lemma wrist

View A

View B

10-kg payload

　 Teaching for painting synchronized with conveyor movement is easy, because the

wrist has no singular points in the front area.

　 With a MOTOFEEDER, painting workpieces on mesh and on spindles is possible.

　Compact controller saves space.

Ideal for painting horizontal and vertical planes in synchronization with the conveyor.



Payload 10 kg


Range of Motion

S -axis (turning) −90˚ − +90˚ (−27.5˚ − +27.5˚ when mounted on the wall)


U -axis (upper arm)+5˚ − +163˚ (For the range of +5˚ to +10˚ : the R-axis motion range is limited to −260˚ to −65˚, and +60˚ to +260˚ .)

R -axis (wrist roll)−260˚ − +260˚ (For the range of −145˚ to −20˚ , and +125˚to +260˚ : the B-axis motion range is limited to −195˚ to +15˚ .)



Maximum Speed

S -axis (turning) 123.5˚/s

L -axis (lower arm) 120˚/s

U -axis (upper arm) 123.5˚/s

R -axis (wrist roll) 360˚/s

B -axis (wrist pitch/yaw) 360˚/s

T -axis (wrist twist) 360˚/s


L- t

yp

e W

rist Allowable

Moment*2








Mass 370 kg

Ambient Conditions






Installation Floor, Wall, or Ceiling-mounted

Max Weight of Painting Devices on Arm 20 kg including parts mounted in the wrist

Type of Explosion-proofCombination of pressurized (fia2G4) and intrinsic safety (ia2G4).

Explosion Proof Certifi cation TIIS (Certifi ed), FM (Pending), ATEX (Application being planned)




A

B

* : When mounted on the wall

240240

647

17

83

21

5

640

215 215

215

48

0

0

0

10

20

35°

60

085

02

45

300

P-point

850 93

57

5

92

5

48

6

2035

285

438

860

2031

2335

406432

2767

100°

50°50° 5°

163°

62

0

3055

P.C.D.32

Tapped holes M6(8 holes) (Depth: 9 mm)

0.5

180°

P-point

R2035

16

5

55°*

S

U

L

B

R

R58

6

R620

T

14

1.5

14

dia

. H

7

45 d

ia.

( Ro

tatio

n o

ute

r d

ia.)

70 d

ia.

18 dia.(4 holes)

5



Hollow slim arm*

Hollow, slim arm!


View A

View B

MOTOMAN-EPX2050Medium painting robot, 15-kg payload

　 No interference with workpieces, because tubes for painting guns can be

installed inside the hollow, slim arm.

　 Painting devices can be mounted on the arm to shorten color changing time

and save paint and thinner.

*: Inner diameter 50 mm





H- t

yp

e W

rist Allowable

Moment*2








Mass 540 kg

Ambient Conditions

Temperature 0 to +40˚C (FM standard: 0 to +45˚C)





Installation Floor or Wall-mounted



Explosion Proof Certifi cation TIIS (Certifi ed) ，FM (Certifi ed) ，ATEX (Certifi ed)



Payload 15 kg


Range of Motion

S -axis (turning) −90˚ − +90˚


U -axis (upper arm) +5˚ − +163˚




Maximum Speed 2.0 m/s

270241

248.5

18

64

240

647

240

90˚

90˚

R685

R2054

R590

215

215

48

0

215 215 51

266

650

60˚60˚

P.C.D

.102

5˚

20˚

85˚

73

˚

95

1855

85˚

73˚

50˚

100˚

3128

28

06

2354

2052

1691

913

406

342

0

438

452

1074

98

1

68

5

63

1

52

3

0

300

77

.9

155850194.7

31

08

50

600

P-point

TBRU

L

S

2054

35˚

117

dia

. 50 dia.

B

A

7 (Within 116 dia. h7)

11

6 d

ia. h7

Tapped holes M6(6 holes)(Depth: 11 mm) (Pitch: 1.0)

4 dia. H7(2 holes)(Depth: 7 mm)

18 dia. (4 holes)

6



View B

MOTOMAN-EPX2750Medium painting robot, Lemma wrist

View A

10-kg payload

　 Teaching for painting synchronized with conveyor movement is easy, because the

wrist has no singular points in the front area.

　Compact controller saves space.

Ideal for painting horizontal and vertical planes in synchronization with the conveyor.




Payload 10 kg


Range of Motion

S -axis (turning) −150˚ − +150˚


U -axis (upper arm) +10˚ − +168˚

R -axis (wrist roll)−260˚ − +260˚ (For the range of −145˚ to −20˚ , and +125˚to +260˚ : the B-axis motion range is limited to −195˚ to +15˚ .)



Maximum Speed

S -axis (turning) 124˚/s

L -axis (lower arm) 127˚/s

U -axis (upper arm) 112˚/s

R -axis (wrist roll) 360˚/s

B -axis (wrist pitch/yaw) 360˚/s

T -axis (wrist twist) 360˚/s

L- t

yp

e W

rist Allowable

Moment*2








Mass 560 kg

Ambient Conditions






Installation Floor-mounted



Explosion Proof Certifi cation TIIS (Certifi ed), FM (Pending), ATEX (Application being planned)




A

B

P-point

P-point

290

761

290

20

78

300°

R63

8

R2729

R822

16

5

0

60

01

10

0

141

.5

168°

12

69

60

4

28

5

2455

2772

3029

827

176.5

609

729

667

3758

77

0.5

82

29

98

2729

3997.5

0

1298300 93

10°

40°40°40° 90°

108°

168°

7502

50

25

0

265265100

58

0

R

B

S

U

L

T

P.C.D.32

0.5

45

dia

.( R

ota

tio

n o

ute

r d

ia.)

70

dia

.

14

dia

. H

7 Tapped holes M6(8 holes) (Depth: 9 mm)

18 dia.(6 holes)

7








TypeYR-EPX2700-*000

(Right offset)YR-EPX2700-*100

(Left offset)

Controlled Axis 6 (Vertically articulated)

Payload 15 kg


Range of Motion

S -axis (turning) −25˚ − +125˚ −125˚ − +25˚


U -axis (upper arm) −65˚ − +90˚




Maximum Speed







MOTOMAN-EPX2700Medium painting robot, 15-kg payload

View A

Top View

View B

H- t

yp

e W

rist Allowable

Moment*2








Mass 590 kg

Ambient Conditions






Installation Wall-mounted



Explosion Proof Certifi cation TIIS (Certifi ed)，FM (Certifi ed)，ATEX (Pending)

　 The painting booth can be smaller. More compact size

lowers the initial cost and the running cost.

　 The long path motion of the robot can realize

consistent painting quality, because the painting area

does not need to be broken into several sections.

　 Right-offset and left-offset models are available.

Symmetrical installation of two robots possible.

　 Solenoid valves and electropneumatic regulators can

be mounted inside. Less time is required to change

paint colors.

A wall-mounted robot for the ultimate in short processing!

Hollow arm*


P.C.D

.10221.5±0.1

23

95 0

1300

27

00

670

380

80

0

73

55

0

P-point

19

50

0

18

96

140˚ 10˚

11

42

1400

18

0

98.7

25

˚

65˚

2700

0

236

2447

589

836

222

47

2310

78

2

462

S

L

R

U

T

B4

03± 0

.1

2-R6

12

512

52

50

250

258

16016030

20

383

51±0.0251±0.02

Note: These drawings are for the right-offset model. Contact your Yaskawa representative about drawings for the left-offset model.

22 dia.(8 holes)

B

R2700

25˚

R300

310

125˚

36448.5

35

30

14

46.5

80

3

73 d

ia.

A

70 dia.

14

0 d

ia.

11

6 d

ia.

h7

5.2 dia.(2 holes)(Depth: 10 mm)

12 dia. H7(Depth: 12 mm)

12 ( Dep

th: 1

2 m

m)

+ 0.0

180

95±0.1

Tapped holes M6(6 holes)(Depth: 12 mm)(Pitch: 1.0)

8



EPX2800REPX2800





*4 : Including parts mounted in the wrist

H- t

yp

e W

rist Allowable

Moment*2

R -axis (wrist roll) 77.4 N·m (7.9 kgf·m) 45.8 N·m (4.67 kgf·m)

B -axis (wrist pitch/yaw) 49.9 N·m (5.1 kgf·m) 33.8 N·m (3.45 kgf·m)

T -axis (wrist twist) 19.6 N·m (2.0 kgf·m) 10.8 N·m (1.1 kgf·m)


R -axis (wrist roll) 2.45 kg·m2 1.45 kg·m2

B -axis (wrist pitch/yaw) 1.20 kg·m2 0.79 kg·m2

T -axis (wrist twist) 0.20 kg·m2 0.10 kg·m2

Mass 650 kg 820 kg

Ambient Conditions

Temperature 0 to +40˚C 0 to +40˚C (FM standard: 0 to +45˚C)





Installation Floor-mounted Shelf-m ounted

Max Weight of Painting Devices on Arm 50 kg*4 25 kg*4


Explosion Proof Certifi cation TIIS (Certifi ed)，FM (Certifi ed)，ATEX (Pending)

Model MOTOMAN-EPX2800 MOTOMAN-EPX2800R

Type YR-EPX2800-*0** YR-EPX2800R-*0*0

Controlled Axis 6 (Vertically articulated)

Payload 20 kg 15 kg


Range of Motion

S -axis (turning) −150˚ − +150˚ −120˚ − +120˚


−40˚ − +180˚ (S-axis −90˚ − +90˚)

−40˚ − +120˚ (S-axis +90˚ − +120˚)

−40˚ − +120˚ (S-axis −90˚ − −120˚)

U -axis (upper arm) −85˚ − +90˚ −70˚ − +90˚




Maximum Speed







MOTOMAN-EPX2800/2800RLarge painting robot, 20-kg/15-kg payload

View A

View B View C

　 No interference with workpieces, because hoses for painting devices can be routed

inside the hollow, slim arm. Ideal for painting interior panels of automobiles.

　 The response of painting devices can be enhanced by solenoid valves and

electropneumatic regulators inside the pressurized enclosure. *: Inner diameter 70 mm

Lineup includes fl oor-mounted and shelf-mounted types!

Hollow slim arm*

P.C.D

.102

21.5±0.1

R675

R282590˚

90˚

377 450 950 270

2766

2017

652

390

0

381

583

98.7

1985

180

2825

1187

58

0

45

00

975

1267

14

008

17

.5

251

60˚

40˚ 90˚

90˚

20˚

670

437233

S

L

R

U

T

B

P-point

S

L

RU T

B

684

959

1157

2439

2778

281

1729 0

1073

227

795.5

701

1467

3324

2351

491469

1258

0

3046

422

98

.7

P-point

795

.59

50

30

014

5

21

90

.5

1550 180250330

120˚

45˚

160˚

135˚

R2778

R1021

R519

392 378

335335

150˚

150˚

A

A

B

C

Tapped holes M6 (6 holes)(Depth: 12 mm) (Pitch: 1.0)

5.2 dia. H7(2 holes) (Depth: 10 mm)

140

dia

.

116

dia

. h7

70 dia.

425

12

5477

618 12 dia. H7

+0.018012 　　

elongated holes(Width: 22 mm)

13.5 dia.(15 holes)

Tapped hole M8(1 hole) (Pitch: 1.25)

17.5 dia.(12 holes)

285 285

290

12 dia. H7

12 　　 elongated holes(Width: 22 mm)

+0.0180

9






Payload 20 kg


Range of Motion

S -axis (turning) −150˚ − +150˚


U -axis (upper arm) −70˚ − +90˚




Maximum Speed







MOTOMAN-EPX2900Large painting robot, 20-kg payload

View A

View B

View C





　Optimum for painting large-size workpieces such as car bodies.

　 Color change valves (CCV) and the gear pump are mounted on the arm. Fine control

of painting is available, by solenoid valves and electropneumatic regulators inside the

pressurized enclosure.

Large robot for painting large workpieces with greater effi ciency and quality!

Hollow arm (Hollow process arm)*

H- t

ype

Wris

t

Allowable Moment*2

R -axis (wrist roll) 72.0N·m (7.3 kgf·m)

B -axis (wrist pitch/yaw) 51.5N·m (5.2 kgf·m)

T -axis (wrist twist) 19.6N·m (2.0 kgf·m)

Mass 1030 kg

Ambient Conditions






Installation Floor-mounted



Explosion Proof Certifi cation TIIS (Certifi ed)，FM (Certifi ed)，ATEX (Certifi ed)

B

A

C

29

01200

750

380±0.1380±0.1

180

223223

80 210

100

550

98

.7

498

20

50˚50˚

110˚

20˚

30˚

300 1400

492470

0

27

43

14

28

35

5

01692 2900793696657

P-point

0

(from the S-Axis rotation center)

R1000 (Protection hose range)*

U

L

S

R

T

B

* : Protection hose interference range is different according to customer’s condition.

160±0.1

34

0± 0

.1

21

0± 0

.1

25

02

50

20050 370±0.2

20050

310±0.15

00

33

5670 3

35

300

300

60

20

30

50

169

P.C.D

.102

51 51 21.5±0.1R2900

300˚

R550

R793

3350

2921

2421

1043

750

410

1060

560

139


14

0 d

ia.

116

dia.

h7

5.2 dia. H7 (2 holes)(Depth: 10 mm)


22 dia.(6 holes)

12 dia. H7(2 holes)

70 dia

10

CONTROLLERSpecialized Controller for Painting

Dimensions Units: mm

Controller Specifi cations

Programming Pendant Specifi cations

FunctionsConfi guration Free-standing, enclosed type

Cooling System Indirect cooling

Ambient Temperature During operation: 0˚C to +40˚C / During storage: −10˚C to +60˚C

Relative Humidity 90% max. (non-condensing)

Power SupplyThree-phase 200/220 VAC (+10%, −15%) at 60 Hz (Japan)

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

GroundingGrounding resistance: 100 Ω or lessNote: When using an explosion-proof programming pendant, the grounding resistance must be 10 Ω or less and 100 Ω or less.

Digital l/OsSpecialized signals: 17 inputs and 3 outputsGeneral signals: 　　 40 inputs and 40 outputsMax.I/O (optional): 1,024 inputs and 1,024 outputs

Positioning System By serial encoder

ProgrammingCapacity

JOB: 60,000 steps, 10,000 instructionsCIO ladder: 10,000 steps max.

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

LAN (Connection to Host) 1 (10BASE-T/100BASE-TX)

Interface RS-232C: 1ch

Control Method Software servo control

Drive UnitsFor robot axes: One drive unit for AC servo with 6 axesTime required for replacement: 5 minutes (One unit includes amplifi ers for 6 axes)

For external axes: Combined converter and amplifi er per axis. (optional)

Painting Color Munsell notation 5Y7/1 (reference value)

Communication Port CC-Link, DeviceNet (Registered tradmark of the ODVA)

Op

era

tio

n

Coordinate System Includes joint, rectangular/cylindrical, tool, and user coordinates

Modifi cation of Teaching Points Adding, deleting or correcting robot axes and external axes.

Inching Operation Allows inching

Locus Confi rmation Includes forward/reverse and continuous feeding

Speed Adjustment Allows automatic speed adjustment to match cycle time

Timer Setting Possible every 0.01 s

Short-cut Function Includes direct-open function

Interface

CF (Compact Flash) card slot Standard type: At programming pendant Explosion-proof type: At front panel of controllerRS232C (At Control Circuit Board)

LAN (100BASE-TX/10BASE-T) (At Control Circuit Board) (Optional)

Safe

ty F

eatu

res

Essential Measures Japanese Industrial Standard (JIS)

Running Speed Limit User defi nable

Enable Switch3 position type. Servo power can be tumed on at the middle position only. (Located on programming pendant)

Collision Proof Frames Includes doughnut-sector frame, cubic frame (user coordinates)

Self-diagnosis Classifi es errors and two types of alarms (major and minor) and displays the data

User Alarm Display Displays alarm messages for peripheral devices

Machine Lock Allows test-run of peripheral devices without robot motion

Door Interlock Allows door to open only when main power switch is OFF.

Mai

nten

ance

Fun

ctio

n

System MonitoringTime Display

Controls power-ON time, servo power-ON time,playback time, moving time, operating time

Alarm Display Displays alarm messages and previous alarm records

I/O Diagnosis Provides simulated enabled/disabled output possible

T.C.P. Calibration Automatically calibrates parameters for end effectors

Pro

gra

mm

ing

Functio

n

Programming Interactive Programming

Robot Motion Control Includes joint coordinates, linear/circular interpolation, and tool coordinates

Speed SettingUses percentage for joint coordinates, 0.1 mm/s, for interpolations, angular velocity for TCP fi xed motion

Program ControlInstruction

Includes jump, call, timer, pause, execution of some instructions during robot motion

Variables Global, local variables

Types Byte, integer, double integer, real, character, position

I/O Instructions Includes discrete I/O control and pattern I/O processing

Painting UnitControl Instructions

Includes spray ON/OFF (anticipation available) andpainting conditions output

Painting Characteristics Filing

Multi-gun shift (up to 4 guns available)

Includes amount of spray, pattern, atomizing, high-voltage,delay time of spraying, delay time of atomizing

Oth

ers Utilities

Includes 3-dimensional shift, optional setting coordinate shift, mirror imaging, robot zero-point check

Automatic Operation Job registration table

Conveyor Synchronization Allows static conveyor teaching

Applicable Models

MOTOMAN-EPX2050, EPX2700, EPX2800, EPX2800R, EPX2900

Applicable Models

MOTOMAN-EPX1250, EPX2050 (Lemma wrist), EPX2750 (Lemma wrist)

Type Standard Explosion-proof

Dimensions 169 (W)×314.5 (H)×50 (D) mm 235 (W)×203 (H)×78 (D) mm

Mass 0.986 kg 1.25 kg

Material Reinforced plastics Reinforced plastics

Operation Device

Select keys, axis keys, numerical/application keys, mode selector switch with keys (mode: teach, play, and remote), emergency stop button, enable switch, compact fl ash card interface device (compact fl ash is optional.), USB port (1 port)

Select keys, axis keys, numerical/application keys, emergency stop button, enable switch

Display

5.7-inch color LCD, touch panel640×480 pixels(Alphanumeric characters, Chinese characters, Japanese letters, Others)

5.7-inch monochrome LCD, backlit white LED, touch panel 320×240 pixels(Alphanumeric characters, Chinese characters, Japanese letters, Others)

IEC Protection Class IP65 IP54

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

Standard: 8 m (20 m optional),Max. : 50 m (with optional extension cable)

Standard type Explosion-proof type

Approx. mass: 120 kg Approx. mass: 200 kg

Programming Pendant

WARNING

91191

1200

(174)800

381.630

53020 2057030

600

( 69

)8

50

Circuitbreaker

Brake release unit(Optional)

PneumaticsUnit

Cooling unit(Optional)

188.4

220 250 130175 450 175

23

2.3

Fluorescence lamp (Optional)

30

Emergencystop button

2×Door lock Fixing jig(Provided by user)

Connectorfor P.P. (×81)

For fixing & attachingadditional cabinettapped holes M10(4 holes)(Depth: 14 mm)

2×Door Lock

20 480 2030 520

550

500

1400

( 69

)

Emergency stop button

Connectorfor P.P. (×81)

Fixing jig(Provided by user)

30

30

Main powersupply switch

For fixing & attachingadditional cabinettapped holes M10(4 holes)(Depth: 14 mm)

危　険

Note: The following drawings shows models with Japanese specifi cations. Dimensions of models designed in accordance with FM or ATEX certifi cation are different.

St d d t

11

MOTOFEEDERSpecial Workpiece Feader

MOTOFEEDER Standard Specifi cations MOTOFEEDER Lineup

EPX1250: Mounted; table pitch: 1,600 mm

EPX1250: Mounted; table pitch: 1,800 mm(See the dimensional drawing on this page.)

EPX1250: Not mounted; table pitch: 1,400 mm



EPX2050-A300: Not mounted; table pitch: 1,400 mm



Items Specifi cations

Number of Axis 2

Control Method AC servo drive control

Explosion-proof Structure Pressurized enclosure (fi a2G4) + intrinsic safety (ia2G4)

Max WeightTable for heavy loads: 40 kg

Table for high-speed rotation: 20 kg

Repeatability ±0.55 mm, when table R is 300 mm.

Motion RangeArm: −180°to +180°Table: Continuous rotation

Max Speed

Arm: 120˚ /s

Table for heavy loads: 270˚ /s

Table for high-speed rotation: 900˚ /s

Allowable Moment Table: 452 N·m (46.1 kgf·m)

Allowable Moment of Inertia (GD2/4)

Table for heavy loads: 49.6 kg·m2

Table for high-speed rotation: 1.54 kg·m2

Mass 420 kg

AmbientConditions

Temperature 0 ℃ to + 40℃Humidity 20 % to 80% RH (non-condensing)



Air Panel (Optional) Analog control for both one or two guns

Others Continuous rotation or indexed positioning


Note: Contact your Yaskawa representative for more information.

View A and B

　 With a robot mounted on a MOTOFEEDER used for small workpieces

(Max: 800 mm × 800 mm), a smaller space is required.

　 Both indexed positioning and spindle rotations are possible.

　 Air panels for painting devices are available (optional).

EPX1250

900 900

1800

620

200

82

08

0

31

0

960

65

0

200

520 86.5

606.5

19

.2

2944

235435

235

235

30

53

05

560

700

280480

760

(532)350

Drive for arm rotation

Drive for table rotation

460±0.05

27

0± 0

.05

260±0.05

12 dia. H7(2 positioning pin holes)

Tapped holes M10(2×6 holes)(Depth: 18 mm)

10 dia. H7 (4 holes)(Depth: 18 mm)

86

Arm

Table

P-point

58

5.6

( 80

0)

(800)(Max. workpiece size)

( 20

0)

22.5°

30°

P.C.D

.125

P.C.D

.180

220

dia

.

40 dia. H7

(Depth: 6 mm)

20

0± 0

.05

30°

R900 R56

6

22dia.

(4 mounting holes )

A B

MOTOMAN-EPX Series

LITERATURE NO. KAEP C940420 05A

Published in Japan May 2012 12-5Specifications are subject to change without notice for ongoing product modifications and improvements.

© 2012 YASKAWA ELECTRIC CORPORATION. All rights reserved.

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

12-1-29

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

YASKAWA SHOUGANG 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

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