Robot System Solutions

Arc Welding Application

MOTOMAN-AR Series
Compatible with YRC1000 Robot Controller

S o l u t i o n
MOTOMAN - AR Series

Certified for
ISO9001 and
ISO14001

QMS Accreditation
JQA-0813 JQA-EM0202
R009
 Robot System Solutions

MOTOMAN - AR S eries
Find smart solutions for your production site with
YASKAWA’s cutting-edge robot systems.

AR
Improve
Increase
welding
productivity
quality

Customer
Reduce time for
start-up and needs for Make
equipment
equipment diversified compact
maintenance
applications

Improve equipment
Improve work installation,
efficiency operation, and
maintenance

Standardization of
equipment

2
 S o l u t i o n
MOTOMAN - AR Series

YASKAWA has the answer

We can meet our customers’ diverse needs with
a wide range of functions and components.
Large and long workpieces, automobile suspensions, construction
Application
examples machines, agricultural equipment, shipbuilding, steel beams, etc.
See application examples on page 4 and 5.

AR Series
Manipulators
See Solution 1

MOTOPOS Series YRC1000

Positioner Robot Controller
See Solution 4 See Solution 2

MOTOMAN-AR Series
Total Solution

MOTOPAC Series
Welding Package
See Solution 3

AR700 AR900 AR1440 AR1730 AR2010 YRC1000

3
 Application Examples

YASKAWA ’ s extensive know - how in robotics technologies

can meet the requirements of a wide range of systems.

Welding of small parts

Executed in minimum installation space

Our MOTOMAN robots achieve high-quality welding of small parts in a compact cell. By using welding robots with a
700-mm reach, small parts can be welded in minimum installation space.

The layout of each cell can

be changed easily by
installing a robot controller
and a welding power source
inside the cell.

High-quality welding of small

parts in a compact cell

Welding of long parts (ex. exhaust system parts)

High productivity and high-quality welding

By combining two MOTOMAN robots with welding positioner MOTOPOS, it is possible to execute station twin coordinated
welding. This enables high productivity and high-quality welding even for long exhaust system parts.

The positioner first adjusts the

workpiece’s angle and position.
Next, the two robots weld the
workpiece by coordinating their
movements with the
movements of the positioner.

Station twin coordinated welding

4
 Application
MOTOMAN - AR Series

High-density welding of automotive parts (underbody parts, etc.)

High productivity and high-quality welding

By combining three MOTOMAN robots with the welding positioner MOTOPOS for coordinated motion, it is possible to
achieve high-density, high-quality welding of automotive parts. Moreover, it leads to shorter cycle time as three robots weld
simultaneously.

Arc welding robot

(coordination between three robots)

The positioner holds the workpiece

at an optimum position and angle,
as it coordinates its movements with Workpiece
the movements of the robots to
achieve high-speed and high-quality
welding. Two-axis positioner

Coordination between three robots

and welding positioner

Welding of construction machinery parts

Simplification of transfer equipment and high-quality welding

Construction machinery parts can be welded efficiently using three MOTOMAN robots that operate in coordination with one
another. The two handling robots pick up the workpiece to transfer to optimum welding position. This enables to weld at
optimum position, securing steady welding quality. The robots transfer the workpiece upon completion of welding, which
simplifies transfer equipment.
Workpiece
Welding by one robot

Ｔo achieve high-quality
welding, two robots are used
to hold a workpiece and
another robot is used to weld.
Hold workpiece
with two robots

Coordinated welding without jig

5
 Solution 1

MOTOMAN-AR Series Robot：AR700 and AR900, Compact and High Speed

Customer Increase productivity

needs

Achieve high productivity with number 1 payloads and speeds in their classes
・A wide range of sensors and torches can be mounted with 7 kg/8 kg payloads
(class number 1) and 38% greater allowable moment.
・Speeds of all axes have been increased by 39% (max.).
・Acceleration/deceleration control has been improved to achieve maximum
reduction of acceleration/deceleration times for all robot postures.

Customer Make equipment compact

needs

Slim and easy to use body and arm structure enabling efficient installation space
・Slim manipulator body requires minimum installation space (minimizes L and U ■ Reduced interference radius when S-axis is turning

axis offset).
・Power cable can be connected at the bottom section, which reduces
interference with walls when compared with cable connections on the side of
the manipulator.
・Increased maximum reach and horizontal reach enables manipulator to operate
in wider work areas.
・Slim, straight, and symmetrical arm design minimize interference with peripheral
Former model: MH5(L)SⅡ New model: AR700 and AR900
devices, even in small spaces. Interference radius 182 mm Interference radius 140 mm

■ Reduced interference radius when the wrist is turning

Power cable connection on the side and bottom (optional) of the manipulator Former model: MH5(L)SⅡ Interference radius 73 mm
New model: AR700 and AR900 Interference radius 67 mm

Customer
needs
Improve equipment installation, operation, and maintenance

Easy maintenance Easy-to-clean design

・Zero position data can be saved ・Manipulator surface is designed to
without the need to connect to a prevent adherence of dust.
battery when replacing wire harness.
・Number of cables and connectors Rounded shape
have been reduced for better work and smooth
efficiency. surface

Reduced wiring time

・Power cable is reduced to one cable,
which reduces wiring time.

6
 Solution 1
MOTOMAN - AR Series

MOTOMAN-AR Series Robot：AR1440, AR1730, and AR2010,

World’s Highest Speed in their Classes

Customer Increase productivity

needs

Achieve high productivity with number 1 payload and speed in its class
・Productivity of customers’ equipment can be improved significantly with the robot’s
Reduced
high speed (highest speed in 12 kg and 25 kg payload classes).
air-cut time
・Acceleration/deceleration control has been improved to achieve maximum
reduction of acceleration/deceleration times for all robot postures. The maximum
・Various sensors and servo torches can be mounted with it’s high payload. speed of AR1730
has been increased
by 30% (max.)
Customer compared with the
Make equipment compact
needs former model.

*: increased
Maximum speed of AR1440 and AR2010 has been
by 15% (max.) compared with the
Hollow arm structure enabling internal/external cable storage former model.

・Hollow arm structure to store cables reduces operation ■ Hollow arm

restriction due to cable interference, simplifies teaching, and

eliminates cable disconnection caused by interference.
・Either a internally mounted or externally mounted torch cable
can be selected. We provide the optimum cable installation for
your workpieces and equipment.
・Welding power cables can be stored in the S-axis, which
enables smart external cabling. R-axis hollow arm: 50 mm dia. T-axis hollow arm: 50 mm dia.

Best accessibility in its class

・Slim and hollow arm design minimizes interference with ■ Reduced interference area
Former model
peripheral devices even in small spaces.
・Arm design minimizes interference with surrounding equipment. New model

Minimized interference radius of the wrist

Former model: MA1440 Interference radius 136 mm
MA2010 Interference radius 136 mm
New model: AR1440 Interference radius 120 mm
AR1730 Interference radius 138 mm
AR2010 Interference radius 120 mm

Customer
needs
Improve equipment installation, operation, and maintenance

Easy maintenance

・Zero position data can be saved without the need to connect to a battery when
replacing wire harness.
・Number of cables and connectors have been reduced for better work efficiency.

Reduced wiring time

・Power cable is reduced to one cable, which reduces wiring time.

7
 MOTONAN-AR Series Specifications

AR700 AR900

■Dimensions Units: mm : P-point Maximum Envelope

Install attachments

60 −0.030 dia.
to this range
Install attachments

Depth：3
Fitting
to this range

60 −0.030 dia.
0

Depth：3
Fitting
0
＋0.018
12 0 dia.
Fitting Depth：5
＋0.018
View A 12 0 dia.
Fitting Depth：5
170° 0°
17 View A
Connector for internal user
I/O wiring harness:
LF13WBRB-20S Connector for internal user
R7 33 R92 I/O wiring harness:
99 27 Matching connector: R2
R1 170° 7 LF13WBRB-20S
LF13WBLP-20PA＊HIROSE＊ 170°
(provided by users) Matching connector:
LF13WBLP-20PA＊HIROSE＊
is the operating limit when a (provided by users)
matching connector is attached.
40 440 80

40 340 80 1217
2×Air outlet

102
B 115 115 (M5 tapped hole,
102

1017 115 115

B with pipe plug)
2×Air outlet
(M5 tapped hole, with pipe plug) U R B T A View B
U R B T A
is the operating limit when P-point
445
345

877

air or the optional solenoid

777

L P-point L
Connector for internal user
valve is used.
I/O wiring harness:
LF13WBRB-20P
330

330

View B
C S C S Matching connector:
0 0 LF13WBP-20S＊HIROSE＊
Connector for internal user (provided by users)
295 I/O wiring harness:
LF13WBRB-20P
Matching connector: 476
615

0
199

727

LF13WBP-20S＊HIROSE＊
(provided by users)
805

233

927
Effective working envelope
0

2×Air inlet
(Rc1/4 tapped hole,
with pipe plug)
2×Air inlet View C
(Rc1/4 tapped hole,
with pipe plug)
View C

Specifications AR700 AR900

Type YR-1-06VX8-A00 YR-1-06VX7-A00
Controlled Axis 6 (vertically articulated) 6 (vertically articulated)
Payload*1 8 kg 7 kg
Repeatability*2 ± 0.02 mm ± 0.03 mm
Range of Motion S -axis (turning) － 170 − +170 － 170 − +170
L -axis (lower arm) － 65 − +145 － 65 − +145
U -axis (upper arm) － 70 − +190 － 70 − +190
R -axis (wrist roll) － 190 − +190 － 190 − +190
B -axis (wrist pitch/yaw) － 135 − +135 － 135 − +135
T -axis (wrist twist) － 360 − +360 － 360 − +360
Maximum Speed S -axis (turning) 7.94 rad/s, 455 /s 6.54 rad/s, 375 /s
L -axis (lower arm) 6.72 rad/s, 385 /s 5.50 rad/s, 315 /s
U -axis (upper arm) 9.07 rad/s, 520 /s 7.15 rad/s, 410 /s
R -axis (wrist roll) 9.59 rad/s, 550 /s 9.59 rad/s, 550 /s
B -axis (wrist pitch/yaw) 9.59 rad/s, 550 /s 9.59 rad/s, 550 /s
T -axis (wrist twist) 17.45 rad/s, 1000 /s 17.45 rad/s, 1000 /s
Allowable Moment R -axis (wrist roll) 17 N･m 17 N･m
B -axis (wrist pitch/yaw) 17 N･m 17 N･m
T -axis (wrist twist) 10 N･m 10 N･m
Allowable Inertia (GD2/4) R -axis (wrist roll) 0.5 kg･m2 0.5 kg･m2
B -axis (wrist pitch/yaw) 0.5 kg･m2 0.5 kg･m2
T -axis (wrist twist) 0.2 kg･m2 0.2 kg･m2
Approx. Mass 32 kg 34 kg
IEC Protection Class IP67
Ambient Conditions Temperature 0 ˚C to +45 ˚C
Humidity 20% to 80%RH (non-condensing)
Vibration 4.9 m/s2 or less
Others Free from corrosive gas or liquid, or explosive gas or liquid
Free from excessive electrical noise (plasma)
Free from strong magnetic fields
Power Requirements*3 1 kVA
Mounting*4 Floor, ceiling, wall, tilt

*12:: UConforms
arm payload capacity will vary according to payload carried by wrist.
*3: Varies in accordance
to ISO 9283.
*4: There are motion limitations
with applications and motion patterns.
8 *Note: SI units are used for the specifications.
on S-axis for wall, tilt mounting type.
 Solution 1
MOTOMAN - AR Series

AR1440 AR1730

Air inlet (A)

(Rc3/8 tapped hole, Position of
Position of Air inlet (A)

62 −0.019 dia.
with pipe plug) the internal
the internal (Rc3/8 tapped hole, connector

62 −0.019 dia.

100 dia.
50 dia.
connector with pipe plug) main key

100 dia.
50 dia.

0
main key

Fitting Depth：5
0

Fitting Depth：5
3 0
R4 R17

62 −0.019 dia.
06
62 −0.019 dia.
Connector for internal user
I/O wiring harness:

100 dia.
0
Connector for internal user
JL05-2A20-29PC (with cap)
0

I/O wiring harness:

170° 100 dia. JL05-2A20-29PC (with cap) 5
Matching connector:
Matching connector: JL05-6A20-29S
5 4 (provided by users)
4 JL05-6A20-29S
(provided by users) View A View B
View A View B Air inlet (A)
R14 Air inlet (A) (Rc3/8 tapped hole,
40
170° (Rc3/8 tapped hole, 2085 with pipe plug)
10

with pipe plug) 150 795 100

R4

Connector for internal user

102
U I/O wiring harness:
Position of the internal JL05-2A20-29SC (with cap)
connector main key A Matching connector:

200
1734 R T B JL05-6A20-29P
Connector for internal user
155 640 100 (provided by users)
I/O wiring harness:
P-point
200 81

U JL05-2A20-29SC (with cap)

760
Matching connector: Main key
1567

R TB A JL05-6A20-29P L
(provided by users)
614

P-point
1345

505

L
188 93.5
B S 261 139
0
450

B S 0

777
1004
1129

410

1440

1430

406

1730
185.5 186.5

261 229

Specifications AR1440 AR1730

Type YR-1-06VXH12-A01 YR-1-06VXH25-A01
Controlled Axis 6 (vertically articulated) 6 (vertically articulated)
Payload*1 12 kg 25 kg
Repeatability*2 ± 0.06 mm ± 0.06 mm
Range of Motion S -axis (turning) － 170 − +170 － 180 − +180
L -axis (lower arm) － 90 − +155 － 105 − +155
U -axis (upper arm) － 85 − +150 ( − 85° − +140 ) *5 － 86 − +160
R -axis (wrist roll) － 200 − +200 ( − 150° − +150 ) *5 － 200 − +200 ( − 150°−＋ 150 ) *5
B -axis (wrist pitch/yaw) － 150 − +150 ( − 135° − +90 ) *5*6 － 150 − +150 ( − 135°−＋ 90 ) *5*6
T -axis (wrist twist) － 455 − +455 ( − 210° − +210 ) *5 － 455 − +455 ( − 210°−＋ 210 ) *5
Maximum Speed S -axis (turning) 4.53 rad/s, 260 /s 3.67 rad/s, 210 /s
L -axis (lower arm) 4.01 rad/s, 230 /s 3.67 rad/s, 210 /s
U -axis (upper arm) 4.53 rad/s, 260 /s 4.63 rad/s, 265 /s
R -axis (wrist roll) 8.20 rad/s, 470 /s 7.33 rad/s, 420 /s
B -axis (wrist pitch/yaw) 8.20 rad/s, 470 /s 7.33 rad/s, 420 /s
T -axis (wrist twist) 12.2 rad/s, 700 /s 15.44 rad/s, 885 /s
Allowable Moment R -axis (wrist roll) 22 N･m 52 N･m
B -axis (wrist pitch/yaw) 22 N･m 52 N･m
T -axis (wrist twist) 9.8 N･m 32 N･m
Allowable Inertia (GD2/4) R -axis (wrist roll) 0.65 kg･m2 2.3 kg･m2
B -axis (wrist pitch/yaw) 0.65 kg･m2 2.3 kg･m2
T -axis (wrist twist) 0.17 kg･m2 1.2 kg･m2
Approx. Mass 150 kg 250 kg
IEC Protection Class Body: IP54, Wrist: IP67
Ambient Conditions Temperature 0 ˚C to +45 ˚C
Humidity 20% to 80%RH (non-condensing)
Vibration 4.9 m/s2 or less
Others Free from corrosive gas or liquid, or explosive gas or liquid
Free from exposure to water, oil, or dust
Free from excessive electrical noise (plasma)
Free from strong magnetic fields
Power Requirements*3 1.5 kVA 2.0 kVA
Mounting*4 Floor, ceiling, wall, tilt
*12:: UConforms
arm payload capacity will vary according to payload carried by wrist.
*5: The value in the parenthesis is the motion range when the manipulator is used
*3: Varies in accordance
to ISO 9283. together with MOTOPAC.
*4: There are motion limitations
with applications and motion patterns.
*6: The plus and minus values will be switched when the manipulator is mounted on the 9
*Note: SI units are used for the specifications.
on S-axis for wall, tilt mounting type. ceiling and used together with MOTOPAC.
 MOTONAN-AR Series Specifications

AR2010

■Dimensions Units: mm : P-point Maximum Envelope

62 −0.019 dia.
50 dia.

0
R5

Fitting Depth：5
61

100 dia.

62 −0.019 dia.
0

100 dia.
5
R201 4
0
View A
Position of the internal
connector main key Air inlet (B)
(Rc3/8 tapped hole,
with pipe plug)
Welding power source’ s
2365 Air inlet (A) terminal board
(Rc3/8 tapped hole,
150 1082 100 with pipe plug)
Connector for internal user
83

U I/O wiring harness: JL05-2A20-29PC (with cap)

Matching connector: JL05-6A20-29S
A (provided by users)
200

R
TB View B
760

P-point
1548

139
S
505

M10 tapped hole (2 holes)

B (depth: 18mm) (pitch: 1.5)
0

261 229
M10 tapped hole (2 holes)
491 (depth: 12mm) (pitch: 1.5)
1710

561

2010
0

1284

Specifications AR2010
Type YR-1-06VXH25-A11
Controlled Axis 6 (vertically articulated)
Payload*1 12 kg
Repeatability*2 ± 0.08 mm
Range of Motion S -axis (turning) － 180 −＋ 180
L -axis (lower arm) － 105 −＋ 155
U -axis (upper arm) － 86 −＋ 160
R -axis (wrist roll) － 200 −＋ 200 ( － 150°−＋ 150 ) *5
B -axis (wrist pitch/yaw) － 150 −＋ 150 ( － 135°−＋ 90 ) *5*6
T -axis (wrist twist) － 455 −＋ 455 ( － 210°−＋ 210 ) *5
Maximum Speed S -axis (turning) 3.67 rad/s, 210 /s
L -axis (lower arm) 3.67 rad/s, 210 /s 
U -axis (upper arm) 3.84 rad/s, 220 /s
R -axis (wrist roll) 7.59 rad/s, 435 /s
B -axis (wrist pitch/yaw) 7.59 rad/s, 435 /s
T -axis (wrist twist) 12.2 rad/s, 700 /s
Allowable Moment R -axis (wrist roll) 22 N･m
B -axis (wrist pitch/yaw) 22 N･m
T -axis (wrist twist) 9.8 N･m
Allowable Inertia (GD2/4) R -axis (wrist roll) 0.65 kg･m2
B -axis (wrist pitch/yaw) 0.65 kg･m2
T -axis (wrist twist) 0.17 kg･m2
Approx. Mass 260 kg
IEC Protection Class Body: IP54, Wrist: IP67
Ambient Conditions Temperature 0 ˚C to +45 ˚C
Humidity 20% to 80%RH (non-condensing)
Vibration 4.9 m/s2 or less
Others Free from corrosive gas or liquid, or explosive gas or liquid
Free from exposure to water, oil, or dust
Free from excessive electrical noise (plasma)
Free from strong magnetic fields
Power Requirements*3 2.0 kVA
Mounting*4 Floor, ceiling, wall, tilt

*12:: UConforms
arm payload capacity will vary according to payload carried by wrist.
*5: The value in the parenthesis is the motion range when the manipulator is used
*3: Varies in accordance
to ISO 9283. together with MOTOPAC.
*4: There are motion limitations
with applications and motion patterns.
*6: The plus and minus values will be switched when the manipulator is mounted on the
10 *Note: SI units are used for the specifications.
on S-axis for wall, tilt mounting type. ceiling and used together with MOTOPAC.
 Solution 2
Solution 2
MOTOMAN - AR Series

YRC 1000 Robot Controller Four Features

Programming
Pendant

YRC1000 Robot Controller

Customer Make equipment compact Customer Standardization of equipment

needs needs

Smallest size in the world reduces installation space Global standardization (Universal size)
This 125 L compact size Former models ・Common size for use in Japan and overseas.
controller does not require a ・Available with specifications for Europe (CE certified) and
YRC1000
transformer and has built-in North America (UL certified).
external axis amplifiers for ・Overseas models do not require a transformer to adapt to
three axes. the required power supply voltage.

Realized this size by building in three external

axes and eliminating the need for a transformer.

Customer Improve work efficiency Customer Improve work efficiency

needs needs

New motion control (high precision and high speed) Lighter programming pendant with better operability
・Reduce time required for confirmation process with ・Weighs only 730 g, the lightest programming pendant in
minimized track changes caused by differences in motion its class, with improved cable installation.
speeds. ・Can confirm robot positions and postures on the 3D robot
・Reduce time for teaching since it is now possible to specify model display.
the distance where the corner operation should start. ・Touch screen allows intuitive operation to easily move
・Successfully carry out corner operation under suppressed
the cursor and scroll.
speed changes with simple settings.

■ YRC1000 Robot Controller Specifications

Items Specifications
Configuration Dust proof IP54 (area of backside duct fan: IP2X)
Dimensions 598 ( W ) × 427 (D) × 490 (H) mm，125 L
Approx. Mass 70 kg max. (External axis amplifiers for up to three axes can be built in.)
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)
Altitude 2000 m (with temperature derating)
Derating condition of over 1000 m: max. ambient temperature decreases 1% per 100 m.
Power Supply Japan: three-phase 200 VAC to 240 VAC (+10% to − 15%), 50/60 Hz ( ± 2%)
Asia and Europe: three-phase 380 VAC to 440 VAC (+10% to − 15%), 50/60 Hz ( ± 2%) (neutral grounding)
North America: three-phase 380 VAC to 480 VAC (+10% to − 15%), 50/60 Hz ( ± 2%) (neutral grounding)
Grounding Grounding resistance: 100 Ω or less for 200-V class, 10 Ω or less for 400-V class
Digital I/Os Specialized signals: 19 inputs and 6 outputs
General signals: 40 inputs and 40 outputs (32 transistor outputs, 8 relay outputs)
Positioning System Serial communications (absolute encoder)
Programming Capacity JOB: 200,000 steps, 10,000 instructions
CIO ladder: 20,000 steps max.
Expansion Slots PCI express: 2 slots
LAN (Connection to Host) 2 (10BASE-T/100BASE-TX)
Interface RS-232C: 1ch
Control Method Software servo control
Drive Units SERVOPACK for AC servomotors

■ Programming Pendant Specifications

Items Specifications
Dimensions 152 (W) × 53 (D) × 299 (H) ｍｍ
Approx. Mass 0.730 kg
Material 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 flash card interface device (compact flash is
optional.), USB port (USB 2.0, 1 port)
Display 5.7-inch TFT color LCD, touch panel VGA 640 × 480 pixels (alphanumeric characters, Chinese characters,
Japanese letters, and others)
IEC Protection Class IP54
Cable Length Standard: 8 m, max.: 36 m (with optional extension cable)
11
 Solution 2

Ideal Arc Welding Functions of the YRC1000

Customer Simple settings to achieve accurate welding angles

needs

Welding Line Coordinate System Jog Operation Function : Torch Angle Display

The YRC1000 allows jog operation in a direction based on the welding line (welding line coordinate system) during teaching.
Also, the torch angle, which is important for welding quality, is displayed on the programming pendant. The manipulator can be
moved by inputting the torch angle and travel angle in the ARC INFORMATION.

■ Angle display
Tz View A
Z Interlock + Z Torch angle
Tx

Y
View B
Y Ty
View B
Travel angle

X X
View A

Customer
needs
Simple settings to adjust welding conditions

Welding Conditions Guide Function ( Optional )

The YRC1000 allows the automatic calculation of welding conditions without having to actually weld. Firstly, this simplifies the
setting of welding power source conditions. Secondly, you can set the calculation result to the welding start conditions file with
one click of a button. Finally, the time taken to set welding conditions can be reduced.

Pressing “Write” sets the calculated current value and

voltage value to the welding start conditions file.

Pressing “Calculate” calculates the current value

and voltage value.

12
 Solution 2
MOTOMAN - AR Series

Customer Improve welding quality

needs

Graphical arc monitor function （Optional）

You can check the welding conditions, job information, and robot motion information of the YRC1000,
displayed on the programming pendant. You can also automatically back up welding-related data to an external
memory device. This allows to check welding conditions, manage data, and investigate the cause of welding defects.

Welding status can be checked.

Displays the torch angle required

for high-quality welding.

On-screen contents
can be selected.

Measurement can be triggered by Automatic external data

a signal or an arc interruption. backup is possible.

・You can monitor welding conditions and job information in wave or number form, and check the welding status.
・Measurement can be triggered by a signal or an arc interruption, and the cause of welding defects can be analyzed.
・You can manage data by automatically backing up welding conditions, job, signal, and register information to an
external memory device.

Customer Check welding conditions quickly

needs

Check welding conditions and other information, and make changes for teaching,
all on the same display.

With the YRC1000, you can check and correct welding conditions, as well as other information on just one display.
Moreover, you can easily make changes to welding commands and robot motion information for multiple welding
segments, using table format as shown below. You can also improve welding quality by checking in real-time, actual
welding condition values while welding is in progress.

Weld Control Sheet Job: ARC_1 L : 0004 S : 0003

Check welding conditions and
Weld locations: 3 other information and make
Total welding length: 905 mm　Total welding time: 372.2 s　Predicted total welding length: 900 mm　Total welding time: 372.2 s
Welding conditions Actual value
changes for teaching,
Welding
line
Line
No. File Current Voltage User file Weld method Speed Current Voltage Weld length
on just one display.
No. No. A V No. No. cm/min A V mm

Confirmation is possible only for welding segments. Welding status can be confirmed simultaneously
for the current robot execution step.

13
 Solution 3

Welding Power Source and Welding Package

Features
Easy Setup
Each component is carefully developed and selected
for different types of workpieces and welding methods.
As a result, the best robotic system can be easily
installed. YASKAWA offers a full range of services to
support your needs.

Achieve High-quality Welding

High - quality welding can be achieved by combining
MOTOMAN robots with the latest digitally controlled
welding power source ( MOTOWELD ) . This enables
optimum welding control for a wide variety of welding
methods.

Features of Our New Welding Power Source MOTOWELD-X350 High-quality welding

■ Synchronized Welding Function

Spatter reduced by fully Calculates the optimal welding
parameters from the torch angle.
synchronized robot operation MOTOMAN-AR Series
and waveform control. YRC1000

Sends optimal welding parameters

to the welding power source.
Welding waveform image

Outputs optimal welding waveform from the waveform parameters. MOTOWELD-X350 Limits the increase
in spatter by adjusting
the torch angle.
■ Effect of Synchronized Welding Function
Significantly limits the increase in spatter caused by adjusting the torch angle.
Without synch With synch
Significantly
Torch angle 0.3 limits spatter
(Spatter increase rate)
0.259
0.25 219.8%
Spatter quantity (g)

【Welding condition】
0 .2
Welding power source: 180 A
Wire diameter: 1.2 mm
0.15 Gas: MAG
13.6%
0.092 0.087
0.101 Torch position: drag angle
0 .1 0.081 0.081 0°, 20°
, 40°
Image showing spatter when 7.4% Welding speed: 80 cm/min
torch angle is adjusted 0.05 24.7% Welding method number:
10 Short-circuit welding
0
0° 20° 40°
Torch angle

14
 Solution 3
MOTOMAN - AR Series

Features of MOTOWELD-X350 & AC Unit (XACU)

& ■ DC welding ■ AC welding

MOTOWELD-X350 AC unit (XACU)

■ Faster Welding and Lower Defect

Weld Defect Rates
XACU AC unit increases welding volume Burn-through No burn-through
and suppresses heat input, which
Example: Stainless steel, sheet thickness: 1 mm,
improves welding quantity, increases gap: 1 mm, speed: 100 cm/min
welding speed, and reduces defect rates.
■ Select the ideal device for your needs
■ Better Aluminum Bead Appearance
When the workpiece you want to weld changes, or the
Smut reduced by 50% for aluminum welding. adjustment of welding conditions becomes too difficult,
Creates smooth beads and ripples. you can attach an AC unit to the MOTOWELD-X350.
■ AC welding ■ AC welding This removes the need to buy a new welding power
source.

Suppressing smut Creates smooth beads and ripples.

Features of MOTOPAC-WL300+ Welding Robot Package for Ultra-low Spatter

Servo torch ■ The EAGL welding * minimizes spatter Superior quality
&
The EAGL welding maximizes productivity and improves higher productivity
the welding quality.
* : EAGL welding: Enhanced Arc robot weldinG for Low spatter. This is a technology to reduce spatter greatly.
In sync with a welding waveform, control a welding
SERVOPACK box MOTOWELD-X350
wire that repeat sending and sending back.

Reduced spatter by a forced short circuiting transfer

Conventional MIG, MAG, and CO2 welding

Wire feeding direction Generates Comparison of spatter amount 96%
spatter down !!

Conventional
welding
94%
Amount of spatter

down !!
EAGL welding 97%
Generates Forward
91% down !!
CO2 welding Welding conditions down !!
spatter direction only
Gas: CO₂
Wire diameter: 1.2 mm
Torch angle:
Perpendicular to panel
Welding speed: 80 cm/min
EAGL welding
Spatter
reduced 150A 180A 200A 250A
over 90% Welding current

Reduce spatter
at wire retraction

15
 Solution 3

A Complete Lineup of Welding Power Sources and Welding Packages

MOTOPAC-WL300+
Welding power source: X350, servo torch, SERVOPACK box
MOTOPAC-WL300 & AC UNIT ・Short-circuit welding for ultra-low spatter (EAGL welding)
Welding power source: X350 & AC unit (XACU) ・Pulsed arc welding
・AC short circuiting welding
MOTOPAC-WL300
・AC pulsed arc welding New welding power source: X350
・Low spatter short-circuit welding
*RL350 succession model
・Pulsed arc welding
MOTOPAC-WH400
Welding power source: RP500
Functions

・Short-circuit welding
・Pulsed arc welding
MOTOPAC-WR100
Welding power source: SR350 MOTOPAC-WR200
・Short-circuit welding Welding power source: SR500
・Short-circuit welding

Main workpieces Vehicle body/seat Vehicle suspension, etc. Construction machine, farm machine, etc. Shipbuilding, steel frame, etc.

Target thickness mm 0.6 1.0 3.2 4 12

350 A Class
Welding power source MOTOPAC-WL300
MOTOWELD-X350 401 653
385 M8 Eyebolts This package uses the MOTOWELD-X350 welding power source.
The secondary switching circuit installed in the welding power
source reduces spatter caused by short circuiting and enables high-
quality welding.
507
475

＊ : When welding aluminum, the torch and torch cable set and conduit cables
for aluminum welding must be used.

Output terminal (－) Stay brackets

Output terminal (＋)

Ratings and Specifications for MOTOWELD-X350

Specifications For Japan and other Asian countries Rated Output Voltage 12 V to 36 V
Model YWE-X350-CC0 (compliant with China Compulsory Certification) Rated Operation Rate 60% (for 10 minutes)
Rated Input Three-phase 200 - 220 VAC ± 10% Applicable Pulsed MAG/MIG welding,
Voltage Three-phase 380 - 400 VAC ± 10% Welding Method CO2/MAG/MIG short circuiting arc welding
(Voltage selectable at the back terminal) Applicable Wire Diameter 0.8 mm/0.9 mm/1.0 mm/1.2 mm
Rated Frequency 50/60 Hz Applicable Welding Material Iron, stainless steel, aluminum
Rated Input 18 kVA/15 kW Dimensions* (W × D × H) 385 × 653 × 475 mm
Rated Output Current 30 A to 350 A Approx. Mass 50 kg
*: Does not include projecting parts such as eyebolts or screws.
Welding power source
MOTOWELD-X350
MOTOPAC-WL300+
supporting EAGL welding This package uses the MOTOWELD-X350 welding power source
that supports EAGL welding. The EAGL welding reduces spatter
and enables high-quality welding.
*: When welding aluminum, the torch and torch cable set and conduit cables
for aluminum welding must be used.
*: Cannot be used in combination with the AC Unit (XACU).
AC Unit (XACU) compatible
with MOTOWELD-X350
MOTOPAC-WL300 & AC UNIT
welding power source This package uses the MOTOWELD-X350 welding power source and
an AC Unit (XACU). This combination of the existing welding method
and AC welding can enhance the performance of the complicated
welding process of thin sheets.

*: for
When welding aluminum, the torch and torch cable set and conduit cables
aluminum welding must be used.
Ratings and Specifications for AC Unit (XACU)
Specifications For Japan and other Asian countries Rated Output Voltage 12 V to 36 V
Model YWE-XACU-CC0 (compliant with China Compulsory Certification) Rated Operation Rate 60% (for 10 minutes)
Three-phase 200 - 220 VAC ± 10% Pulsed MAG/MIG welding, CO₂/MAG/MIG short
Rated Input
Three-phase 380 - 400 VAC ± 10% Applicable circuiting arc welding, AC pulsed MAG/MIG
Voltage (Voltage selectable at the back terminal) Welding Method welding, CO2/MAG/MIG AC short circuiting arc
Rated Frequency 50/60 Hz welding
Rated Input 18 kVA/15 kW Applicable Wire Diameter 0.8 mm/0.9 mm/1.0 mm/1.2 mm
Rated Output Current 30 A to 350 A Applicable Welding Material Iron, stainless steel, aluminum
Dimensions* (W×D×H) 375 × 638 × 371 mm
Approx. Mass 40 kg
16 *: Does not include projecting parts such as eyebolts or screws.
 Solution 3
MOTOMAN - AR Series

Welding power source 270 MOTOPAC-WR100

450
MOTOWELD-SR350 250
M8 Eyebolts
This package uses the MOTOWELD - SR 350 welding power
source.
675

630

＋ －

Output terminal (－) Stay brackets

Output terminal (＋)

Ratings and Specifications for MOTOWELD-SR350

Specifications For Japan and other Asian countries Rated Output Voltage 12 V to 36 V
Model YWE-SR350-AJ0(not compliant with China Compulsory Certification) Rated Operation Rate 60% (for 10 minutes)
Rated Input Three-phase 200 - 220 VAC ± 10% Applicable Welding Method CO2 short circuiting arc welding, MAG short circuiting arc welding
Voltage Three-phase 380 - 415 VAC ± 10% Applicable Wire Diameter 0.8 mm/0.9 mm/1.0 mm/1.2 mm
Rated Frequency 50/60 Hz Applicable Welding Material Iron only
Rated Input 20 kVA/15 kW Dimensions* (W × D × H) 250 × 450 × 630 mm
Rated Output Current 30 A to 350 A Approx. Mass 45 kg
*: Does not include projecting parts such as eyebolts or screws.
500 A Class
Welding power source MOTOPAC-WH400
MOTOWELD-RP500
370
825
This package uses the MOTOWELD-RP500 welding power source.
M10 Eyebolts
The operation rate of 100% enables prolonged continuous welding
operation.*1
*1: high
A water-cooled torch is required for continuous welding operations with a
641

operation rate.
600

*2: When welding aluminum, the torch and torch cable set and conduit cables
for aluminum welding must be used.
Output Output Stay brackets
terminal (－) terminal (＋)

Ratings and Specifications for MOTOWELD-RP500

Specifications For Japan and other Asian countries Rated Output Voltage 12 V to 45 V
YWE-RP500-AJ0 (not compliant with China Compulsory Certification) Rated Operation Rate 100% (for 10 minutes)
Model
YWE-RP500-CC0 (compliant with China Compulsory Certification) Applicable Pulsed MAG/MIG welding,
Rated Input Three-phase 200 - 220 VAC ± 10% Welding Method CO₂/MAG/MIG short circuiting arc welding
Voltage Three-phase 380 - 415 VAC ± 10% Applicable Wire 0.8 mm/0.9 mm/1.0 mm
Rated Frequency 50/60 Hz Diameter 1.2 mm/1.4 mm/1.6 mm
Rated Input 27 kVA/24.3 kW Applicable Welding Material Iron, stainless steel, aluminum
Rated Output Current 30 A to 500 A Dimensions* (W×D×H) 370 × 825 × 600 mm
Approx. Mass 75 kg
*: Does not include projecting parts such as eyebolts or screws.
Welding power source MOTOPAC-WR200
MOTOWELD-SR500 370 500
350
M10 Eyebolts This package uses the MOTOWELD-SR500 welding power source.
Use this package when the required current and operation rate
cannot be obtained with a 350A welding power source.
680
722

Output Output Stay brackets

terminal (＋) terminal (－)

Ratings and Specifications for MOTOWELD-SR500

Specifications For Japan and other Asian countries Rated Output Voltage 12 V to 45 V
YWE-SR500-AJ0 (not compliant with China Compulsory Certification) Rated Operation Rate 80% (for 10 minutes)
Model
YWE-SR500-CC0 (compliant with China Compulsory Certification) Applicable Welding Method CO2 short circuiting arc welding, MAG short circuiting arc welding
Rated Input Three-phase 200 - 220 VAC ± 10% Applicable Wire Diameter 1.0 mm/1.2 mm/1.4 mm/1.6 mm
Voltage Three-phase 380 - 415 VAC ± 10% Applicable Welding Material Iron only
Rated Frequency 50/60 Hz Dimensions* (W×D×H) 350 × 500 × 680 mm
Rated Input 29 kVA/26 kW Approx. Mass 60 kg
Rated Output Current 30 A to 500 A *: Does not include projecting parts such as eyebolts or screws.

17
 Solution 3

MOTOPAC Package Components

Standard Package Components

■ MOTOMAN-AR1440, AR1730, ■ MOTOMAN-AR1440, AR1730,

AR2010 with externally mounted AR2010 with internally mounted
torch cable torch cable

③ ③

⑩
④ ⑩ ②
④
② Shield gas YRC1000

Pail pack ⑨
⑧ ①
⑧
⑦

⑪ ⑥

⑥
⑤

■ For MOTOMAN-AR700, AR900 ■ When using AC unit

*1 ①

② ⑦ ⑪ Shield gas *2 YRC1000

Pail pack ⑨
⑬
⑧
⑦

⑥ ⑤ ⑥

⑤
⑫ To YRC1000

■ List of MOTOPAC Package Components

No. Device Default specifications
① Welding power source Select from MOTOWELD-X350,-SR350,-RP500,-SR500
With internally mounted torch cables：
When using a 350 MOTOMAN- YMSA-300R [from TOKIN CORPORATION (air-cooled, with shock sensor)]
A welding power AR1440,1730,2010 With externally mounted torch cables：
source TK308R-SS [from TOKIN CORPORATION (air-cooled, with shock sensor)]
② Torch and torch cable set MOTOMAN-AR700,900 TK309R-SS [from TOKIN CORPORATION (air-cooled, with shock sensor)]
With internally mounted torch cables：
When using a 500
MOTOMAN- YMSA-500R [from TOKIN CORPORATION (air-cooled, with shock sensor)]
A welding power
AR1440,1730,2010 With externally mounted torch cables：
source
TK508R-SS [from TOKIN CORPORATION (air-cooled, with shock sensor)]
③ Wire feeder*1 YWE-WFR42DX2
When using a 350 A welding power source 60 sq power cable
④ Installation parts for S-axis
When using a 500 A welding power source 80 sq power cable
When using a 350 A welding power source 60 sq 5 m
⑤ Positive ( ＋ ) power cable
When using a 500 A welding power source 80 sq 5 m
When using a 350 A welding power source 60 sq 5 m
⑥ Negative ( − ) power cable
When using a 500 A welding power source 80 sq 5 m
⑦ Cable for wire feeder control (between manipulator and welding power source) 5m
5 m (This cable is not included when using MOTOWELD-SR350, SR500 with a
⑧ Negative ( − ) cable for voltage detection (between manipulator and jig)
10 m or shorter power cable.)
Welding I/F cable (between robot When using MOTOWELD-X350, -RP500 LAN cable 5 ｍ
⑨
controller and welding power source) When using MOTOWELD-SR350, -SR500 Welding I/F cable 4 ｍ
⑩ Conduit cable N35 × 3 m [from TOKIN CORPORATION]
⑪ Gas hose SLD hose (nominal dia. 6mm) × 10 m [from Bridgestone Corp.]
⑫ Shock sensor cable (used only when AR700 or AR900 is selected) 10 m
⑬ AC unit (XACU) (used only when MOTOPAC-WL300&AC UNIT is selected) −

* 1: The wire feeder cannot be placed on the manipulator when using the AR700 or AR900. Users must prepare a stand for the wire feeder.

18 * 2: An optional joint component should be used when placing the AC unit on top of the X350.
 Solution 3
MOTOMAN - AR Series

Package Components for MOTOPAC-WL300+

■ For MOTOMAN-AR1440, AR1730, AR2010

③

⑪ ② ①

④ Shield gas YRC1000

Pail pack ⑩
⑥
⑧ ⑫

⑨ ⑦

■ For MOTOMAN-AR700, AR900

③
⑪
② ①
⑤

* Shield gas YRC1000

⑩
⑥ Pail pack

⑧ ⑫

⑨ ⑦ ⑬

■ List of MOTOPAC Package Components

No. Device Default specifications
① Welding power source MOTOWELD-X350
② SERVOPACK box Select from 200 V or 400 V
③ Servo torch set + shoulder unit/ joint unit
* WFE2WD-TSS300R [from TOKIN CORPORATION (air-cooled, with shock sensor)]
④ Installation parts for S-axis 60 sq power cable
⑤ Cable for servo torch −
⑥ Cable for base side 5m
⑦ Positive ( ＋ ) power cable 60 sq 5 m
⑧ Negative ( − ) power cable 60 sq 5 m
⑨ Negative ( − ) cable for voltage detection (between manipulator and jig) 5m
⑩ Welding I/F cable (between robot controller and welding power source) LAN cable 5 ｍ
⑪ Conduit cable N35 × 3 m [from TOKIN CORPORATION]
⑫ Gas hose SLD hose (nominal dia. 6mm) × 10 m [from Bridgestone Corp.]
⑬ Shock sensor cable (used only when AR700 or AR900 is selected) 10 m

*: The joint unit cannot be placed on the manipulator when using AR700 or AR900. Users must prepare a stand for the joint unit.

19
 Solution 3

Components and Devices

Standard Package
Internally Mounted Torch Cable for 350 A (Standard)

TOKIN TOKIN TOKIN TOKIN

YMSA-300R YMSA-308R YMXA-300R YMXA-308R
with shock sensor with shock sensor without shock sensor without shock sensor
YMSA-ACC300R YMSA-ACC308R YMXA-ACC300R YMXA-ACC308R
with shock sensor with shock sensor without shock sensor without shock sensor
Applicable models: Applicable models: Applicable models: Applicable models:
AR1440，AR1730 AR1440，AR1730 AR1440，AR1730 AR1440，AR1730

335
497.2

AR2010 AR2010 AR2010 AR2010

407.7
424.5

5
31°

15
35°

5
35° 82.5
5

20 dia.

15
5

31°
15
15

125.1 20 dia.
82.5 20 dia. 125.1 20 dia.

Internally Mounted Torch Cable for 500 A ( Standard )

BINZEL BINZEL
iCATminiG350-30SN iCATminiG350-308N
300 with shock sensor 308 with shock sensor TOKIN TOKIN
N chip (internally mounted) N chip (internally mounted) YMSA-500R YMSA-508R
iCATminiG350-30SD iCATminiG350-308D with shock sensor with shock sensor
300 with shock sensor 308 with shock sensor Applicable models: Applicable models:
D chip (internally mounted) D chip (internally mounted) AR1440，AR1730 AR1440，AR1730
Applicable models: Applicable models: AR2010 AR2010
AR1440 AR1440
353.2

AR1730 AR1730

508.6
398

436.5

AR2010 AR2010
5

30°
35°
5
15

5.5
92 20 dia. 5.5
15

31° 15
35° 15
125.1 20 dia.

89.7 25 dia.
133.1 25 dia.
15

Externally Mounted Torch Cable for 350 A ( Standard )

TOKIN TOKIN TOKIN TOKIN TOKIN
YXSA-500R YXSA-508R TK309R-SS TK308R-SS TK308R-LESS
without shock sensor without shock sensor with shock sensor with shock sensor without shock sensor
Applicable models: Applicable models: Applicable models: ACC308R-SS ACC308R-LESS
AR1440，AR1730 AR1440，AR1730 AR700，AR900 with shock sensor without shock sensor
AR2010 AR2010 Applicable models: Applicable models:
AR1440，AR1730 AR1440，AR1730
347

AR2010 AR2010
395
419.1

395
309.5

40° 40°
5.5
31° 15 50°
5.5 .
. dia
89.7
35° 15 dia 20
25 dia. 20
5
.
dia

6
20

133.1 25 dia.
15
15

14
15

WL300+ Package
Externally Mounted Torch Cable for 500 A ( Standard ) Externally Mounted Torch Cable for 350 A (Standard)
TOKIN TOKIN
TK508R-SS TK508R-LESS TOKIN TOKIN
with shock sensor without shock sensor WFE2WD- WFE2WD-
Applicable models: Applicable models: TSS300R TSS308R
AR1440，AR1730 AR1440，AR1730 with shock sensor with shock sensor
AR2010 AR2010 Applicable models: Applicable models:
AR700, AR900 AR700, AR900
AR1440, AR1730 AR1440, AR1730
395

395

AR2010 AR2010
415

40° 40°
492

40°
40°
. .
ia. ia dia
25d 25d 20
5

.
dia
5

20
15
15

5
15

15

20 Note: Please contact your YASKAWA representative about other torches.

 Solution 3
MOTOMAN - AR Series

Power Cable This cable can be used as a positive (＋) power cable (between a manipulator and a welding power source) as
well as a negative (－) power cable (between a welding power source and a welding jig). Different lengths of
cable can be ordered as needed, depending on the installation layout of the devices. This positive (＋) power
cable must be the same length as the feeder control cable.
【Selectable materials, thicknesses, and lengths】
Material: WCT or E-WCT
Thickness: 60 sq, 80 sq, or 100 sq
Length: 5 m (standard), 10 m, 15 m, or 20 m
Note: Cables are also available in 1-m increments.

Cable for Wire Feeder Control This signal cable connects a manipulator with a welding power source and controls the wire feeder. Different lengths
of cable can be ordered as needed, depending on the installation layout of the devices.
If you change the length of this cable, the length of the positive (＋) power cable must also be changed. If you use
the MOTOWELD-SR350, -SR500 welding power source, obtain a voltage detection cable separately.
【Selectable lengths】
Without an encoder signal conversion unit: 5 m (standard), 7 m, or 10 m
With an encoder signal conversion unit: 10 m, 15 m, or 20 m

Negative (－) Cable for Voltage Detection This cable connects a manipulator with a welding jig and detects welding voltage. Different lengths of cable can
be ordered as needed, depending on the installation layout of the devices. If you change the length of this
cable, the length of the negative (－) power cable must also be changed. When using the MOTOWELD-SR350
or -SR500 welding power source, this cable connects a welding power source with a welding jig.
【Selectable lengths】
Length: For X350 5 m (standard), 10 m
For SR350, SR500, RP500 5 m (standard), 10 m, 15 m, 20 m

Welding I/F Cable：LAN Cable This signal cable connects a robot controller with a welding power source and controls the welding power
source. Different lengths of cable can be ordered as needed, depending on the installation layout of the
devices. This cable is used with the MOTOWELD-X350 or -RP500 with digital controls.
【Selectable lengths】
Length: 5 ｍ (standard), 10 ｍ,15 m, 20 m

Welding I/F Cable This signal cable connects a robot controller with a welding power source and controls the welding power
source. Different lengths of cable can be ordered as needed, depending on the installation layout of the
devices. This cable is used with the MOTOWELD-SR350 or -SR500, or MOTOWELD-RP500 with analog
controls.
【Selectable lengths】
Length: 4 ｍ (standard), 5 m, 10 ｍ,15 m, 20 m
Note: The YWE-AIF-001 must be purchased separately when using the RP500 with analog controls.

Conduit Cable This cable connects a manipulator with a spool container for welding wire. Different lengths of cable can be
ordered as needed, depending on the installation layout of the devices.
【Selectable cable types and lengths】
Length: N35 (1 m to 10 m max. in 1-m increments, standard 3 m), N55 (1 m to 15 m max. in 1-m increments),
Simplified type (1 m to 20 m max. in 1-m increments) [from TOKIN CORPORATION]

Gas Hose This hose connects the manipulator and gas cylinder.
【Selectable lengths】
Length: 10 m (standard), 20 m, 30 m

Optional Devices
Air Valve Unit This valve unit is used to supply air to a welding torch with a wire clamp.
【Selectable lengths】
Length: Signal cable 10 m, 20 m

Feeder Roller This is a set of optional rollers for the wire feeder. Be sure to order the correct size rollers for your wires. (A set
of rollers for diameter 1.0 mm and 1.2 mm wires is installed in the wire feeders when shipped.)
【Selectable wire diameter 】
Wire diameter : 0.8 mm dia., 0.9 mm dia., 1.4 mm dia., 1.6 mm dia.（0.8 mm and 0.9 ｍｍ dia., 1.4 mm and 1.6 mm dia.）
[from TOKIN CORPORATION]
Note: Available in a set of two rollers (one set/wire feeder)

Gas Regulator This gas regulator controls the pressure of shield gas contained in the gas cylinder that can be used for both
CO2 and MAG welding. When using it for CO2, an antifreeze heater can be used by connecting the heater to a
100 VAC power source.

Cable Stands and Reel Units This option includes a cable stand that secures the conduit cable, and a reel unit that holds the wire reel.
【Selectable reel units】

・Mounted on cable stand [from YASKAWA] ・Mounted on floor [from TOKIN CORPORATION]

Water Circulator This is a water circulation device for water-cooled torches. A single-phase 200 VAC must be used for this device.
【Selectable types】
WR100［from TOKIN CORPORATION］
Water hose length: 10 ｍ, 15 ｍ, 20 ｍ

21
 Solution 4

Welding Positioner

MOTOPOS is a welding positioner that is exclusive for MOTOMAN. It supports high-quality welding by securing optimal
welding postures.

Wide Variety of Products

We have an extensive model lineup, including models with a payload of 200 kg to 5000 kg, models with one to two axes, and
cantilever models that can weld the back of workpieces. Choose an optimum turntable and positioner for your production line
to improve welding quality and efficiency.

Cantilever type
●D200B-C00 ●D500B-C00
　D500B-C01 (Space-saving model)

2 ●D250F
Number of Axes

●D250B ●D500B ●D700B

●S500E ●T2000E
(High-speed model) (High-speed model)
●S1000B ●T2000B ●T5000B
●S250B ●S500B
1

●S500F

●S500B-A30 (Low-cost model)

200 250 500 700 1000 1500 2000 4000 5000

Payload kg

Features

■ Wide Variety of Products

Our product lineup features one-axis positioners and two-axis positioners with a wide range of
payloads, as well as turntables. We can recommend optimal positioners for each customer’s system,
depending on the type of application.

■ High Precision
A single controller that exclusively controls MOTOMAN enables highly accurate coordinated operation
by applying a control system designed specially for MOTOMAN robots and MOTOPOS.

Coordinated welding with MOTOPAC-W series*

arc welding package and MOTOPOS
The robot and MOTOPOS weld in coordination at a constant speed, allowing the
workpiece and the torch to keep the best posture at all times. This reduces partial
penetration and distortion, and greatly improves welding quality.
*: aThewelding
MOTOPAC-W series is a welding package that includes a robot,
power supply, and a torch.

22
 Solution 4
MOTOMAN - AR Series

One - axis Positioners

■Standard : One axis, 250/500/1000 kg payload

Specifications MOTOPOS-S500F MOTOPOS-S500E

Payload 500 kg 500 kg
Type Standard Standard With Rotary Joint
Model YR-MPS500F-A00 YR-MPS500E-A00 YR-MPS500E-B00
Allowable 340 mm 340 mm
Overhang (from the rotating plate with a 500 kg load) (from the rotating plate with a 500 kg load)
Rotational Angle − 200˚ − +200˚ *1 − 370˚ − +370˚ *1
Max. Rotational Speed 3.32 rad/s (190˚/s) 4.71 rad/s (270˚/s)
Allowable Moment 509.6 N･m 509.6 N･m
Allowable Moment
35 kg･m2 35 kg･m2
of Inertia (GD2/4)
Repeatability ± 0.05 mm (R=250 mm) ± 0.1 mm (R=250 mm)
Approx. Mass 150 kg 150 kg
Internal I/O Wire − − 0.5 mm2 × 6 cables
Internal Air Hose − − 3/8 inch × 2 hoses
Power Requirements 0.3 kVA 0.5 kVA

Specifications MOTOPOS-S500B-A30 MOTOPOS-S1000B

Payload 500 kg 1000 kg
Type Optional Mounting Base Type *2 Standard With Rotary Joint
Model YR-MPS500B-A30 YR-MPS1000B-A00 YR-MPS1000B-B00
Allowable 340 mm 600 mm
Overhang (from the rotating plate with a 500 kg load) (from the rotating plate with a 1000 kg load)
Rotational Angle − 360˚ − +360˚ *1 − 180˚ − +180˚ *1
Max. Rotational Speed 2.18 rad/s (125˚/s) 1.92 rad/s (110˚/s)
Allowable Moment 509.6 N･m 2450 N･m
Allowable Moment
･
35 kg m 2 200 kg･m2
of Inertia (GD2/4)
Repeatability ± 0.1 mm (R=250 mm) ± 0.2 mm (R=250 mm)
Approx. Mass 115 kg 350 kg
Internal I/O Wire − − 0.5 mm2 × 6 cables
Internal Air Hose − − 3/8 inch × 2 hoses
Power Requirements 0.3 kVA 0.8 kVA

* 1: Endless rotation is available as an option.

* 2: Mounting bases are optional.
Note: Secondary terminals for welding are provided as a standard feature.

Two - axis Positioners One - axis Turntable

■Standard : Two axes, 250/500/700 kg payload ■Standard :
　One axis, 2000/5000 kg payload
Specifications MOTOPOS-D250F MOTOPOS-D500B MOTOPOS-D700B Specifications MOTOPOS-T2000B/T5000B
Payload 250 kg 500 kg 700 kg Payload 2000 kg 5000 kg
Type Standard Standard With Rotary Joint Standard With Rotary Joint Type (Standard) YR-MPT2000B-A00 YR-MPT5000B-A00
Model YR-MPD250F-A00 YR-MPD500B-A00 YR-MPD500B-B00 YR-MPD700B-A00 YR-MPD700B-B00 Allowable
6125 N･m 7350 N･m
Rotational Angle − 200˚ − +200˚ * −200˚ − +200˚ − 370˚ − +370˚ * −200˚ − +200˚ − 370˚ − +370˚ * Moment
Rotation Axis

Max. Rotational Speed 3.32 rad/s (190˚/s) 2.80 rad/s (160˚/s) 2.80 rad/s (160˚/s) Allowable
Allowable Moment 196 N･m 392 N･m 686 N･m Moment of 2250 kg･m2 4500 kg･m2
Inertia (GD2/4)
Allowable Moment
17 kg･m2 44 kg･m2 70 kg･m2 0˚ − +270˚* 0˚ − +270˚ *
of Inertia (GD2/4) Rotational Angle
Rotational Angle − 135˚ − +135˚ − 135˚ − +135˚ − 90˚ − +90˚ Max. Rotational
1.40 rad/s (80˚/s) 1.05 rad/s (60˚/s)
Speed
Tilted Axis

Max. Rotational Speed 3.14 rad/s (180˚/s) 1.40 rad/s (80˚/s) 1.40 rad/s (80˚/s)
Allowable Moment 539 N･m 1274 N･m 2842 N･m Repeatability ± 0.3 mm (R=1000 mm)
Allowable Moment Approx. Mass 450 kg 950 kg
50 kg･m 2 200 kg･m 2 250 kg･m 2
− −
of Inertia (GD2/4) Internal I/O Wire
Repeatability ± 0.1 mm (R=250 mm) ± 0.1 mm (R=250 mm) ± 0.1 mm (R=250 mm) Internal Air Hose − −
Approx. Mass 265 kg 240 kg 350 kg Mounting Floor-mount only
Internal I/O 0.5 mm2 × 12 cables 0.5 mm2 × 6 0.5 mm2 × 12 cables Power
Optional 0.5 mm2 × 6 cables 0.8 kVA 0.8 kVA
Wire AWG19 × 22 cables cables AWG19 × 22 cables Requirements
Internal Air Hose Optional
Power Requirements 0.4 kVA
3/8 inch × 1 hose 3/8 inch × 2 hoses 3/8 inch × 1 hose 3/8 inch × 2 hoses
0.6 kVA 1.1 kVA
*: atFor0˚,safety, a lock mechanism is provided
90˚, 180˚, and 270˚.
Note: Secondary terminals for welding are
* : Endless rotation is available as an option. Note: Secondary terminals for welding are provided as a standard feature. provided as a standard feature.

Note: Refer to the "Turntable/Positioner MOTOPOS Series" (KAE-C945-431) catalog for details on other turntables and positioners.
23
MOTOMAN-AR Series

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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.
Specifications are subject to change without notice for ongoing product modifications
and improvements.
© 2016 YASKAWA ELECTRIC CORPORATION

LITERATURE NO. CHEP C941111 01C <4>-0

Published in Japan April 2018
16-8-43