LADDER EDITOR

Motoman’s revolutionary dual-arm DIA10 robot provides “human-like”

flexibility of movement to meet your automation needs

FEATURES & BENEFITSn Bothrobotarmscanworktogether

toaccomplishintricatetasksn SingleNX100robotcontroller

directsmovementofallaxesoftherobot

n Handles10kg(22.1lb)payloadperarm;20kg(44.1lb)payloadpossiblewhenusingbotharms

n Best-in-classwristperformancecharacteristicsforyourmostdemandingmaterialhandlingtasks

n Repeatability:±0.1mm(±0.004")n Reach:1,100mm(43.3")perarm

fromcenterlineofbaserotationtotoolmountingsurface

n Opensupawiderangeofapplicationstobeperformedbyrobots

n Thru-armhoseandcablerouting

DIA10DIA10High-Speed, Dual-Arm Robot with “Human-Like” Flexibility TheDIA10robotprovideshigh-speedmotionwithtwoseven-axisarmsthatprovideenhanced,“human-like” flexibility ofmovement.Thisrevolutionary, innovative design makes the DIA10 robot ideally suited for a wide variety of assembly, packaging, parttransfer,machinetendingandotherhandling tasks that formerly could only be done by people. The unique DIA10 features15axesofmotion(sevenaxesperarm,plusasingleaxisforbaserotation). TheDIA10robothasa10kg(22.1lb)payload per arm, a 1,100 mm (43.3") reachperarm(fromcenterlineofbaserotationtotoolmountingsurface),andarepeatability of ±0.1 mm (0.004"). Bothrobotarmscanworktogetheron one task to double the payload or handle unwieldy products. The two arms can also be used independently to perform tasks concurrently and improve productivity. The DIA10 robot can transferapartfromoneofitsarmstotheother.Onerobotarmcanholdthepartwhiletheotherarmperformsoperationsontheheldpart.

ASSEMBLY • PACKAGING • HANDLING MACHINE TENDING • PART TRANSFER

SOLUTIONS IN MOTION ®

THRU-ARM CABLE AND HOSE ROUTING

BIN LOADING AND UNLOADING

Payload: 10 kg/arm

Advanced NX100 Controller The DIA10 robot is controlled by theMotomanNX100robotcontrollerthatfeaturesarobustPCarchitecture,Windows®CEprogrammingpendant,andeasy-to-use INFORM III programming language. TheNX100offersunmatchedmultiple axes control capability to maximize flexibility while minimizing costofintegrationandeliminatingriskof robot collisions. Dual-channel safety featuresincludeenhancedE-stopfunctionality, integrated speed monitoring,manualbrakereleaseswitches,and compliance with both ANSI/RIA R1506-1999 and Canadian safety standards. TheNX100controlleroffersunmatchedconnectivity through standard Ethernet andothernetworkoptions,including:DeviceNet, ControlNet, Profibus-DP, and EtherNet/IP.Theprogrammingpendantfeatures a color touch-screen display that can be configured as a custom HMI (Human Machine Interface) with buttons andstatusindicators.

TECHNICAL SPECIFICATIONS SUBJECT TO CHANGE WITHOUT NOTICEDS-345-A ©2007 MOTOMAN INC. NOVEMBER 2007

MOTOMAN IS A REGISTERED TRADEMARKWINDOWS IS A REGISTERED TRADEMARK OF MICROSOFT

ALL OTHER MARKS ARE THE TRADEMARKS AND REGISTERED TRADEMARKS OF MOTOMAN INC.

MOTOMAN CORPORATE HEADQUARTERS805 LIBERTY LANE, WEST CARROLLTON, OHIO 45449

TEL: 937.847.6200 • FAX: 937.847.6277WEB SITE: www.motoman.com

Structure ArticulatedMounting FloorControlled Axes 15(7axesperarmand1rotaryaxis)Payload 10kg(22.1lbs)/armHorizontal Reach per Arm 1,100mm(43.3")Vertical Reach 1,440mm(56.7")Repeatability ±0.1mm(±0.004") Rotation-Axis(Waist) ±180° S-Axis(Lifting) ±180°Maximum L-Axis(LowerArm) ±120°Motion 7th-Axis(LowerArmTwist) ±180°Range U-Axis(UpperArm) ±130° R-Axis(UpperArmTwist) ±180° B-Axis(WristPitch/Yaw) ±100° T-Axis(WristTwist) ±180° Turning-Axis 170°/s S-Axis 170°/sMaximum L-Axis 170°/sSpeed 7th-Axis 170°/s U-Axis 170°/s R-Axis 250°/s B-Axis 250°/s T-Axis 500°/sApproximate Mass 220kg(485.1lbs)Power Consumption 4.2kVAAllowable R-Axis 31.4N•mMoment B-Axis 31.4N•m T-Axis 19.6N•mAllowable R-Axis 1kg•m2

Moment of B-Axis 1kg•m2

Inertia T-Axis 0.4kg•m2

DIA10 SPECIFICATIONSStructure Free-standing,enclosedtypeDimensions (mm) 650(w)x1,200(h)x650(d)(25.6"x47.2"x25.6")Approximate Mass 150-250kg(330.8-551.3lbs.)Cooling System IndirectcoolingAmbient Duringoperation:0°C(32°F)to45°C(113°F)Tem per a ture Duringtransmitandstorage:-10°C(14°F)to+60°C(140°F)Relative Humidity 90%max.non-condensingPrimary Power Requirements 3-phase,240/480/575VACat50/60HzGrounding Grounding resistance: ≤100 ohms SeparategroundrequiredDigital I/O StandardI/O:40inputs/40outputsconsistingof16systemNPN-Standard inputs/16systemoutputs,24userinputs/24useroutputsPNP-Optional Enabledto1,024inputs/1,024outputsPosition Feedback ByabsoluteencoderDrive Units ServopacksforACservomotorsAccel/Decel SoftwareservocontrolProgram Memory 60,000steps,10,000ladderinstructionsPendant Dim. (mm) 199(w)x338(h)x60(d)(7.8"x13.3"x2.4")Pendant Playback Teach,Play,Remote,ServoOn,Start,Hold,EmergencyButtons Stop,EditLock(PlayModeEnabledonController)Concurrent I/O Ladder 10,000InstructionsMulti Tasking Upto8concurrentjobsFieldbus DeviceNet Master/Slave, AB RIO, Profi bus, Interbus-S, M-Net,CCLink,EtherNetIP/SlaveEthernet 10BaseT/100BaseTXE-Stop ControlledstopSafety Dual-channelEmergencyStopPushbuttons,3-positionEnable Switch,ManualBrakeRelease MeetsANSI/RIAR15.06-1999andCanadiansafetystandards*See NX100 Controller data sheet (DS-232) for complete specifi cations

NX100 CONTROLLER SPECIFICATIONS*

DIA10 Robot Alldimensionsaremetric(mm)andforreferenceonly.Pleaserequestdetaildrawingsforalldesign/engineeringrequirements.

VIEW E

6X AIR INLET PT3/8WITH PIPE PLUG

S1, S2 AND S3 INTERNALUSER WIRING CONNECTORSTYPE IS HR10A-10R-12P (PIN CONNECTOR)MATING CONNECTOR IS NOT SUPPLIED

VIEW A

60

255

255 200505

8X Ø18

8060

140 14080

500

200

200

80140

14080

500 505

VIEW B

PCD Ø31.545° 45°

4X M5 X 0.8 X 12 DP

Ø5 x 8DP

2040

6.8

VIEW C

POINT PMAXUMUM ENVELOPE

100° 100°

(POINT P MAX ENVELOPE WHENARMS DO NOT INTERFERE)

POINT PR720

VIEW D

2X AIR EXHAUST PT3/8WITH PIPE PLUG

S1 INTERNAL USER WIRING CONNECTORTYPE IS HR10A-10R-12S (SOCKET CONNECTOR)MATING CONNECTOR IS NOT SUPPLIED

210

505

1037

POINT PMAXIMUM ENVELOPE

POINT PPOINT P

R1R2

R720

380760

390

330

930

R720

B

POINT PMAXIMUM ENVELOPE

R720

220

478

559

1037

1209

A

C

D

E