Small Painting Robot Cell SystemsMOTOMAN-EPX1250/2050

MOTOFEEDER

R009QMS Accreditation JQA-EM0924JQA-0813

Certified for

ISO9001 and

ISO14001

Robot, feeder, and painting devices are now sold as a package.

● Shorten setup time for painting systems.● Various painting devices, such as air spray gun and high-quality compact bell, can be attached.

Primary air

Controller with a programming pendant and programs for basic operations

EPX1250 mounted on the MOTOFEEDER with indexing tables or spindles

Power cable,Control cable

Paint

Air

200-VAC Primary power

source

Air, Paint tubing

Safety fence

Diaphragm pump

Painting gun

Basic Package Options Options

Features

Package Lineup

Saving space

Saving energy

Improving productivity

・Feeder-mounted robot package

・Wall-mounted robot package

Small, light painting robot with large motion range

Indexing-table type P3

・Feeder-mounted robot package

・Wall-mounted robot package

Spindle type P4

・Floor-mounted robot package

(max. painting range of 1100 mm × 1100 mm).

Floor-mounted robot type P5

MOTOMAN-EPX1250/2050

・ The space above the feeder is

utilized for EPX1250 robot mounting.

・ Three table pitches are available:

1400 mm, 1600 mm, and 1800 mm.

・ Only two motors drive three axes (one axis for arm

rotation and two axes for table rotation).

・ Index or spindle table included with single MOTOFEEDER.

(Double spindle is optional)

・ Changing gears for rotation of two indexing tables reduces time loss.

・ Hollow space in the center of the MOTOFEEDER for air and paint

tubing makes installation and maintenance easy.

Improving painting quality・ Free installation style for

optimal painting.

・ High-quality compact bell

painting with a small robot.

Wide painting range・ EPX1250: 800 mm × 800 mm

・ EPX2050: 1100 mm × 1100 mm

Compact, multi-functional rotary feeder

MOTOFEEDER

Air control panel

Options

2

EPX1250+MOTOFEEDER

When a feeder with a 1400-mm table pitch (max.

workpiece size: 800 mm × 800 mm) is used, the

package can be put in a 2500-mm-wide booth.

When a feeder with a 1400-mm table pitch (max.

workpiece size: 425 mm × 425 mm) is used, the

package can be put in a 2000-mm-wide booth.

Arm rotational Arm rotational directiondirection

Arm rotational direction

（c）Max. size of workpiece

（a）Booth width

（b）Pitch between tables

When a feeder with a 1600-mm table pitch (max.

workpiece size: 650 mm × 650 mm) is used, the

package can be put in a 2500-mm-wide booth.

（c）Max. size of workpiece

Arm rotational Arm rotational directiondirection

Arm rotational direction

（a）Booth width

（b）Pitch between tables

Feeder-mounted robot package Wall-mounted robot package

Compact layout for wide variety of workpieces!

Flexibility

　 Multiple paint patterns for every workpieces

are suitable for various models and low volume

production.

　 Optimal spray angles for different sizes and

shapes of workpieces by coordinating indexing

and movements of a robot.

Indexing-table Type

MOTOMAN-EPX1250 Robot

Booth Width (a)(mm)

Pitch between Tables (b) (mm)

Robot Mounting Method Max. Workpiece Size (c) (mm)Feeder-mounted Wall-mounted Ceiling-mounted

2000 1400 425×425

2500

1400 800×800

1600 650×650

1800 500×500

3000 or larger 1800 800×800

Booth size and table pitch

When a feeder with a 1800-mm table pitch (max.

workpiece size: 800 mm × 800 mm) is used, the

package can be put in a 3000-mm-wide booth.

Space saving

　 Can be put in a compact booth as small as 2000

mm wide for wall-mounted robot package and 2500

mm wide for feeder-mounted robot package.

Easy teaching

　 Reduced teaching time for indexing tables by

using 4-point teaching.

For a smaller booth, a lightweight robot (110 kg)

can be put on the wall.

This package can be put easily in an existing booth.

Improved Effi ciency

　 Higher productivity by painting multiple workpieces

at one time.

　 Spraying from every angle toward the exhaust

minimizes paint dust.

3

EPX1250+MOTOFEEDER

MOTOMAN-EPX1250 Robot

Booth size and table pitch

Booth Width (a)(mm)

Pitch between Tables (b) (mm)

Robot Mounting Method Max. Spindle Diameter(c) (mm)Feeder-mounted Wall-mounted Ceiling-mounted

2000 1400 ϕ400

2500

1400 ϕ500

1600 ϕ500

1800 ϕ500

3000以上 1800 ϕ500

When a feeder with 500-mm (dia.) spindles and

tables with a 1800-mm pitch is used, the entire

package can be put in a 2500-mm-wide booth.

When a feeder with 400-mm (dia.) spindles and

tables with a 1400-mm pitch is used, the entire

package can be put in a 2500-mm-wide booth.

When a feeder with 500-mm (dia.) spindles and

tables with a 1600-mm pitch is used, the entire

package can be put in a 2500-mm-wide booth.

（c）Max. size of workpiece

Arm rotational Arm rotational directiondirection

Arm rotational direction

（a）Booth width

（b）Pitch between tables

（c）Max. size of workpiece

Arm rotational Arm rotational directiondirection

Arm rotational direction

（a）Booth width

（b）Pitch between tables

For a smaller booth, a lightweight robot (110 kg)

can be put on the wall.

This package can be put easily in an existing booth.

Wall-mounted robot packageFeeder-mounted robot package

Easy Teaching

　 Easy teaching of spindle rotations and quick

reset to home position by using the endless

rotary function of the external axis.

Space saving

　 Can be put in a compact booth as small

as 2000 mm wide for wall-mounted robot

package and 2500 mm wide for feeder-

mounted robot package.

　 Even and beautiful fi nish realized by synchronizing

robot’s movements with spindle rotations.

High Quality

High-speed, high-quality painting!

Spindle Type

　 Quick painting of simple-shaped workpieces

with high-speed spindles (150 min-1).

　 Selectable number of painting guns (one or

two) and spindles (single or double*) for your

application.

Shorter Cycle Time

* : Double spindles need a spindle unit with option.

4

EPX2050+MOTOFEEDERFloor-mounted Robot Type

Robot MOTOFEEDER

Controller Specifi cationsModel Installation

Table Pitch（mm）

Max. Load 40 kg

Max. Load 20 kg

EPX1250

On MOTOFEEDER

16001800

W : 500H : 1400*D : 550

External axis control: 2 axes

On wall or ceiling

140016001800

EPX2050

（Lemma wrist）

On fl oor or wall

140016001800

W : 750H : 1400*D : 550

External axis control: 2 axes

Options

Air Control Panel Air, Paint tubing Double spindle

One Gun Two Guns

Analog Analog

Safety fence Diaphragm pump

3 steps 3 steps

Mounting base

Mounting base for fl oor mounting

Mounting base for wall mounting

Painting gun

Selections available for cell system packages

Floor-mounted robot package

Pitch between tables : 1800 mm

For painting workpieces as large as 1100 mm × 1100 mm

　 With a lemma wrist, the

robot has increased fl exibility

to approach to workpieces

from various angles.

　 Th is package inc ludes

a MOTOMAN-EPX2050

robot tha t has a w ide

motion range (max. reach:

2035 mm), and painting

workpieces as large as

1100 mm × 1100 mm.

MOTOMAN-EPX2050 Robot (With lemma wrist)

Large painting range

Painting workpieces as large as 1100 mm × 1100 mm!

max. reach: 2035 mm

*: H:1500 mm for the controller model that conforms to FM specifi cation.

5

240240

647

17

83

* : When mounted on the wall

180°

P-point

R2035

165

55°*

R58

6

R620

C

D

0

0

10

20

35°

60

08

50

24

5

300

P-point

850 93

57

5

92

5

48

6

20

35

285

438

860

2031

2335

406432

27

67

100°

50°50° 5°

163°

62

0

3055

S

U

L

B

RT

14

1.5

215204

229.5 234

17108

131

31

05

20

13

08

6

10

46

200 520 86.5

70°

65°

2063

48

61

36

6P-point

T

B

U

L 18

52

R

140°

120°

S

A

BModel: YR-EPX1250-A000 (Rear feedercable connection)

Model: YR-EPX1250-A002 (Bottom feeder cable connection)Model: YR-EPX1250-A005(When mounted on a MOTOFEEDER)

260

102±0.1 102±0.1

139±

0.1

300

153±0.1

15

3± 0

.1

26

0

9530

350

139±

0.1

Scavenging port 12 dia.(air hose outside diameter)

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

12 dia. H7 through holesfor reference (2 holes)

18 dia.(4 holes)

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

Exhaust port 12 dia.(air hose outside diameter)

* : When mounted on the wall

R510

R1256

170°

170°

12

8

30

0

120°*

45°3.5

5

20

dia

. H

6

36

dia

. h6 Tapped holes M5

(4 holes) (Depth: 9 mm)(Pitch: 0.8)

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

ϕ

32

26

0

30

095

30

21

5

640215 215

21

5

48

0

18 dia.(4 holes)

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

0.5

14

dia

. H

7

45 d

ia.

( Rot

atio

n ou

ter

dia

.)

70

dia

.

ϕ27.5

MOTOMAN-EPX1250/2050Dimensions and Specifi cations

Manipulator Standard Specifi cations

Manipulator Dimensions Units : mm : P-point Maximum Envelope

Note: SI units are used for specifi cations.

*1 : Conforms to ISO 9283.

*2 : Gravitational units are shown in parentheses.

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

*4 : For the range of +5˚ to +10˚ : the R-axis motion range is limited to −260° to −65˚, and +60˚ to +260˚.

*5 : For the range of −145˚ to −20˚, and +215˚ to +260˚ : the B-axis motion range is limited to −195˚ to +15˚.

*6 : Application being planned.

Model MOTOMAN-EPX1250 MOTOMAN-EPX2050

Allowable Inertia(GD2/4)

R -axis (wrist roll) 0.20 kg·m2 0.97 kg·m2

B -axis (wrist pitch/yaw) 0.20 kg·m2 0.40 kg·m2

T -axis (wrist twist) 0.07 kg·m2 0.10 kg·m2

Mass 110 kg 370 kg

Ambient Conditions

Temperature 0˚C to +40˚C

Humidity 20% to 80%RH (non-condensing)

Vibration 4.9 m/s2以下Others Free from excessive electrical noise (plasma)

Power Requirements*3 max. 1.5 kVA max. 5.0 kVA

InstallationFloor, Wall, or

Ceiling-mountedFloor or Wall-mounted

Max. Mass of Painting Devices on Robot(including parts mounted in the wrist)

5 kg 20 kg

Max. Mass for Painting Devices on Robot Base

10 kg each for E and F sections (See View B)

－

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

Explosion Proof Certifi cation TIIS, FM, ATEX*6 TIIS, FM, ATEX*6

Model MOTOMAN-EPX1250 MOTOMAN-EPX2050

Type YR-EPX1250- 0 YR-EPX2050- 3

Controlled Axis 6 (Vertically articulated)

Payload 5 kg 10 kg

Repeatability*1 ±0.15 mm ±0.5 mm

Range ofMotion

S -axis (turning)−170˚ − +170˚

(−60˚ − +60˚ when mounted on the wall)

−90˚ − +90˚ (−27.5˚ − +27.5˚ when mounted on the wall)

L -axis (lower arm) −65˚ − +120˚ −50˚ − +100˚

U -axis (upper arm) −165˚ − +205˚ +5˚ − +163˚*4

R -axis (wrist roll) −190˚ − +190˚ −260˚ − +260˚*5

B -axis (wrist pitch/yaw) −145˚ − +145˚ −270˚ − +270˚

T -axis (wrist twist) −360˚ − +360˚ −260˚ − +260˚

Max.Speed

S -axis (turning) 3.23 rad/s, 185˚/s 123.5˚/s

L -axis (lower arm) 3.23 rad/s, 185˚/s 120˚/s

U -axis (upper arm) 3.23 rad/s, 185˚/s 123.5˚/s

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

B -axis (wrist pitch/yaw) 7.16 rad/s, 410˚/s 360˚/s

T -axis (wrist twist) 8.73 rad/s, 500˚/s 360˚/s

AllowableMoment*2

R -axis (wrist roll) 8.0 N·m (0.82 kgf·m) 30.4 N·m (3.1 kgf·m)

B -axis (wrist pitch/yaw) 8.0 N·m (0.82 kgf·m) 19.6 N·m (2.0 kgf·m)

T -axis (wrist twist) 3.0 N·m (0.3 kgf·m) 9.8 N·m (1.0 kgf·m)

MOTOMAN-EPX1250 MOTOMAN-EPX2050（Lemma wrist）

View A View B View C View D

6

235435

280480

760

260±0.05460±0.05

23

52

35

56

0

20

0± 0

.05

30°

( 800

)

30

5

70

0

27

0± 0

.05

R900

R56

6

30

5

EPX1250

900 900

62

02

00

820

80

310

960

650

200

520 86.5

606.5

19

.2

260 260

86

( 200

)

1800

22 dia.(4 mounting holes)

(800)(Max. workpiece size)

12 dia. H7(2 positioning pin holes)

Drive for table rotation

Drive for arm rotation

Arm

Table

P-point

388

29

265

.6

39

305

.2

Air-purge Box*

Air-purge Box*

700700

1400

235435

700

280480

760

260±0.05460±0.05 R700

R356

62

0

200

82

0

19

.2

( 200

)2

35

23

5

560

200± 0

.05

( 500

)

270± 0

.05

305

305

A

22 dia.(4 mountingholes)

(500)(Max. workpiece size)

12 dia. H7(2 positioning pin holes)

60°

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

22.5°10 dia. H7 (2×2 holes)(Depth: 18 mm)

40 dia. H7

(Depth: 6 mm)

ϕ220

ϕ125

ϕ 180

Drive for arm rotation

Drive for table rotation

Table

Arm

388

30

5.2

39

29

265

.6

Air-purge Box*

Air-purge Box*

MOTOFEEDER, CONTROLLERDimensions and Specifi cationsMOTOFEEDER Dimensions Units : mm : P-point Maximum Envelope

*: For FM-compliant models, a air-purge box (shown by dashed lines) is required.Note: Contact your Yaskawa representative for dimensional drawings of the

MOTOFEEDER with a 1600-mm table pitch and an EPX1250 robot mounted.

*1: When power is on. *2: When power is off.Note: The allowable moment of inertia shown here is the value used for

tables for heavy loads 40 kg and tables for high-speed rotation 20 kg. Confi rm that the calculated moment of inertia takes into account the

maximum weight and the offset from the rotational center of the table and that it does not exceed the allowable moment of inertia.

*: Relay barriers are installed in the controller to conform to the FM standards for intrinsically safe equipment.

*: For FM-compliant models, a air-purge box (shown by dashed lines) is required.Note: Contact your Yaskawa representative for dimensional drawings of the MOTOFEEDER

with a 1600-mm or 1800-mm table pitch and without a robot mounted.

MOTOFEEDER Standard Specifi cationsNumber of Axis 2 (changing gears for tables)

Control Method AC servo drive control

Max. Load TableHeavy loads: 40 kgOne-spindle, high-speed rotation models: 20 kg/table Two-spindle, high-speed rotation models: 10 kg/table

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

Motion Range Arm: −180°to +180°, Table: Continuous rotation

Max. SpeedArm: 120˚ /sTable for heavy loads: 270˚ /s, Table for high-speed rotation: 900˚ /s

Allowable Moment of Inertia (GD2/4)

TableHeavy loads: 2.8 kg・m2

One-spindle, high-speed rotation models: 1.4 kg・m2 /tableTwo-spindle, high-speed rotation models: 0.7 kg・m2 /table

Mass1400-mm table pitch: 400 kg1600-mm or 1800-mm table pitch: 430 kg

AmbientConditions

Temperature 0˚C to + 40˚C

Humidity 20% to 80% RH (non-condensing)

Vibration 4.9 m/s2 or less

Others Free from excessive electrical noise (plasma)

Air Panel (Optional) Analog or 3-step control for one or two guns

Explosion-proofStructure

Combination of pressurized enclosure and intrinsic safety TIIS: fia2G4*1 /ia2G4*2

FM: Pressurization*1 /intrinsic safety*2

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

Others Continuous rotation or indexed positioning

MOTOFEEDER:1800-mm table pitch, EPX1250 robot mounted MOTOFEEDER:1400-mm table pitch, no robot mounted

View A

CONTROLLER DimensionsApplicable Models　MOTOMAN-EPX1250+MOTOFEEDER

Applicable Models　MOTOMAN-EPX2050 (Lemma) +MOTOFEEDER

Approx. mass : 120 kg，150 kg*

Approx. mass : 200 kg，250 kg*

( 47

)1

35

3, 1

45

3*

( 69

)1400

, 1500*

50048020550

20

30

30

480 2020

30

( 47

)1

35

3, 1453*

( 69

)1400

, 1

50

0*

750550

30

*： For the controller model that conforms to FM specifi cation. Contact your Yaskawa representative for dimensional drawings with more details.

Operation Box (Option for FM-compliant models)

Dimensions

TIIS (Flameproof enclosure):

120 (W) ×270 (H) ×120 (D) mm

FM (Standard operation box)*:　 95 (W) × 230 (H) ×125 (D) mm

7

MOTOMAN-EPX1250/2050MOTOFEEDER

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

© 2012-2013 YASKAWA ELECTRIC CORPORATION. All rights reserved.

LITERATURE NO. KAEP C940420 06B

Published in Japan January 2013 12-913-1-1

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

YASKAWA Electric Corp. (Painting Robotics Sales Dept.)2-1 Kurosaki-Shiroishi, Yahatanishi-ku, Kitakyushu, Fukuoka 806-0004, JapanPhone: +81-93-645-8042 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 Taiwan Corporation9F, 16, Nanking E. Rd., Sec. 3, Taipei, 104 TaiwanPhone: +886-2-2502-5003 Fax: +886-2-2505-1280

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

PT. YASKAWA Electric IndonesiaMenara Anugrah Lantai 1, Kantor Taman E.3.3, Jl. Mega Kuningan Lot 8.6-8.7, Kawasan

Mega Kuningan, Jakarta, IndonesiaPhone: +62-21-57941845 Fax: +62-21-57941843

1

Controller Specifi cations Programming Pendant Specifi cationsConfi guration Free-standing, enclosed type

Cooling System Indirect cooling

Ambient Temperature

During operation: 0˚C to +45˚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 Units

EPX1250:

For robot and external axes: SERVOPACK for AC Servomotors (can be controlled up to 8 axes)

Time required for unit replacement: 5 minutesMaintenance: One amplifi er, eight axes at one time

EPX2050:

For robot axes: SERVOPACK for AC Servomotors (can be controlled up to 6 axes)

Time required for unit replacement: 5 minutesMaintenance: One amplifi er, six axes at one timeFor external axes: One converter combined with one

amplifi er per axis

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

Communication Port

CC-Link, DeviceNet (registered trademark of the ODVA), PROFIBUS (registered trademark of PROFIBUS User Organization)

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.)

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

Display

5.7-inch color LCD,touch panel 640×480 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)