TAWERS - Miller

6 Axis Articulated Arc Welding Robots
TAWERS Series
January 2015
TM/TL Series — Continuously Evolving TAWERS Robotic Welding
Increased
Motion Speed
TM Manipulators That Support Both
External & Through-Arm Torch Cable Routing
Separate
Type
TM-1400: Speed of main 3 axes
increased by 22 % on average.
(approx. 42°/s more than conventional TA type)
Through-Arm
Type
Superior wire
feedability and
reduced cable
interference
Focused on
reducing cable
interference
Long-Arm & High Payload Type
TL Manipulators
External
Type
Focused on
wire feedability
Payload
TL-1800:
TL-2000:
8 kg
6 kg
Robot Systems with
Integrated Welding
Power Source Technology
Torch type selectable to fit your application!
WGⅢ/WGHⅢ
TM
1100
1400
1600
1800
TM series
TM-1400WGⅢ
Separate Type
Through-Arm Type
Long-arm & high payload!
■Manipulator Lineup (as of January 2015)
TM series
WGⅢ/WGHⅢ
TL
1800
2000
TL series
External Type
Payload
TL-1800:
TL-2000:
8 kg
6 kg
TL series
1100
1400
1600
1800
1800
2000
Separate
○
○
○
○
−
−
Through-Arm
○
○
○
○
−
−
External
○
○
−
−
○
○
4 kg
6 kg
8 kg
6 kg
6 kg
Payload
Rated Welding Output:
WGⅢ: 350 A @ 80 % duty cycle (CV). 350 A @ 60 % duty cycle (pulse).
WGHⅢ: 450 A @ 100 % duty cycle (CV/pulse)
External Type
A variety of features specialized for arc welding
Feature
1
( TM/TL )
Enhanced
Fastest
Basic Performance in Industry
Increased Motion Speed
as of April 2014*
Feature
3
( TM/TL )
Structure Specialized for Welding
Clean Cable Management!
TM-1400: Speed of main 3 axes increased by 22 % on average.
(approx. 42°
/s more than TA type)
[Option]
Internal Flexible Conduit
(for wire feed)**
Extended Reach
TM-1400: 1 437 mm (63 mm more than TA type)
Feature
2
( TM)
Manipulator-Controller cable
(control)
Arm Specialized for Welding
Manipulator-Controller cable
(motor power)
Cantilever Structure
makes arm compact and
improves accessibility to
workpieces.
1
Welding power cable
Gas hose
(with valve)
[Option] Internal Flexible
Conduit (for wire feed)**
**For use with drum packing wire only.
*According to our own research
Robot Systems with
Integrated Welding
Power Source Technology
In addition to Through-Arm Type and External Type,
A third choice̶Separate Type
Flexible conduit
（for wire）
Power cable
（for current and gas）
WGⅢ/WGHⅢ
TM
1100
1400
1600
1800
High Wire Feedability
Less Cable Interference
Separate Type̶
Revolutionary new type of arc welding robot
with advantages of both Through-Arm Type
and External Type.
Feature
1 External Flexible Conduit
Flexible conduit
R=large
Torch cable
R=small
[Separate Type]
Gentle curve of flexible conduit
between wire feeder and torch
body achieves stable wire feeding.
[Conventional Type]
Feature
2
Through-Arm Power Cable
[Conventional Type]
Interference
[Separate Type]
Through-arm power
cable reduces cable
interference.
Power cable interference can occur
depending on the
welding position.
Reduced
interference
An example of circumferential welding
Suppresses
twist of wire!
Reduces target position error
at weld start and end points!
New type welding robot achieves
even higher quality welds.
2
Robot Systems with
Integrated Welding
Power Source Technology
"Weld Navigation" allows easy parameter setting
Standard
Easy setting with Teach Pendant
Two Easy Steps:
①
②
1. Select weld joint. The figure
changes according to the joint.
Note: Screens are subject to change
without notice.
2. Select plate thicknesses.
That's all!
Note: Torch angle and aiming point also calculated
Rich welding parameter
database developed
through our long experience
The right parameters automatically
Leg length and weld speed are also adjustable.
Weld Navigation
recalculates weld
current and voltage
according to the
changes.
"Weld Navigation"
reduces parameter
setting time.
Notes: ・Parameters by Weld Navigation are guideline only and do not guarantee welding result.
・Consult us for material and processes available with Weld Navigation.
WGⅢ controller with high performance
Compared to the conventional model, 6 times faster main
CPU and 4 times more memory capacity reduce start-up
time by 50% to
about 30 seconds.
WGⅢ
WGHⅢ
Improved maintainability
Swivel rack in the case makes
maintenance easy and saves space.
Cables with connectors on both
ends reduce Cable exchange time.
3
Swivel rack
Cables with connectors on both ends
TAWERS Technology―
Various Welding Processes
・SP-MAGⅡ for short-circuit mixed gas
welding on thin plates
・HD-Pulse for high-speed and low-spatter
in high-current pulsed mixed gas welding
・MTS-CO₂ for CO₂ welding
TAWERS Welding Process Guide
MAG welding
Note: 1.2 mm mild steel wire used for this guide.
︵ cm/min
︶
Weld speed
Hot Active MAG
Active MAG
80
HD-Pulse
Short-circuit transfer (1 pulse-1 dip)
minimizes undercuts in high speed
welding.
40
Normal-Pulse
Short-circuit transfer range
(Dip transfer range)
180
Spray transfer range
220
CO₂ welding
︵ cm/min
︶
Weld speed
Normal-Pulse
Droplet transfer (1 pulse-1 drop)
achieves low spatter.
Low spatter
and high speed in
high-current range
Low spatter in
high-current range
Standard
Note: 1.2 mm mild steel wire used for this guide.
MTS-CO2
MTS control added to SP-MAG
technology reduces spatter of CO₂
welding.
Low spatter in
low-current range
Normal CO2
MTS-CO2
180
Low spatter
in low-current
range
Weld current (A)
Hot Active CO2
Active CO2
80
SP-MAG II
Secondary switching and SP/HS
control achieve stable arc and low
spatter welding.
HD-Pulse
SP-MAG II
80
Standard
260
Weld current (A)
Active Wire Feed Process (AWP)
Achieves even lower spatter with
high-precision control of wire feed speed.
Active MAG
Active CO2
See the page of “Active TAWERS”for details.
4
TAWERS Technology―
Various Welding Processes
・SP-MAGⅡ for short-circuit mixed gas welding on thin plates
・MTS-CO2 for CO2 welding
SP-MAG II
(Super-imposition Control)
Greatly reduces spatter in mixed gas (MAG) welding on thin plates
Welding waveform control achieves low
spatter in short-circuit transfer range.
■ Spatter comparison (1 minute at 200 A)
Conventional welder (350GB2)
■Spatter generation（MAG）
100
75
TAWERS（SP-MAG Ⅱ）
50
Spatter
reduction
90 % spatter
reduction at 150 A
（compared with 350GB2）
Recommended
Panasonic wire
YM-50MT used.
350GB2
SP-MAG Ⅱ
25
0
SP-MAG Ⅱ current waveform
150 A
200 A
250 A
① Initial short-circuit control
Short-circuit cycle (conventional mixed gas welding)
Detects initial short-circuit and then the secondary switching* circuit reduces
weld current rapidly to prevent micro-short circuit that causes spatter.
Short-circuit cycle (SP-MAGⅡ)
④
② Neck control
Detects a neck of the droplet and then the secondary switching* circuit
reduces weld current rapidly to prevent fuse effect that causes spatter.
Current
Dotted line:
Conventional
mixed-gas welding
② ③ After arc ignition
Initial ①
short-circuit Short circuit release
Neck
①
Fuse effect
②
③④
Micro-short
circuit
Conventional mixed-gas welding
Weld pool
oscillation
MTS-CO2
SP-MAG Ⅱ
③ HS control
Suppresses weld pool oscillation and prevents micro-short circuit that causes
spatter.
④ SP control
Superimposes the current immediately after a short-circuit release and allows
for higher wire-melting speed. This makes the next short circuit smooth and
also makes the short-circuit cycle shorter.
*Secondary switching is the spatter reduction process that rapidly reduces weld
current immediately before and after shot-circuit and allows for smooth transitions
between arc and short circuit.
（Metal Transfer Stabilization Control）
Reduces spatter by up to 75 % using inexpensive CO2 gas
MTS control added to SP-MAG technology reduces spatter of CO2 welding.
CO2 welding delivers uniform pan-bottom shaped penetration.
■Spatter generation
（CO2）
100
75
50
Penetration comparison
0.9 mm Conventional CO₂
75 % spatter
reduction at 150 A
5
0.9 mm
MTS-CO₂
（compared with 350GB2）
350GB2
MTS-CO₂
MTS-CO₂
1.1 mm
25
0
Conventional CO₂ process (350GB2)
1.1 mm
・Joint: Fillet ・Base metal: 2.3 mm mild steel SPCC ・Weld current: 120 A
150 A
200 A
250 A
・Weld speed: 0.3 m/min ・Wire: YGW12 (1.2 mm) ・Shielding gas: CO2
TAWERS Technology―
Various Welding Processes
・Normal pulse for ultra-low spatter welding
・HD-Pulse for high-speed and low-spatter welding
HD-Pulse
（Hyper Dip-Pulse Control)
Achieves high-speed pulsed welding
Short and narrow arc prevents undercuts during high-speed welding.
■HD-Pulse advantages:
■High speed welding
HD Pulse
Preventing undercuts during
high speed welding.
Normal Pulse
Undercut
Gap:
0.4 mm
Dip (Short circuit) transfer
enabling lower heat input with
better gap handling capability.
Undercut
Precisely controlled dip timing
reducing spatter.
Gap:
1.5 mm
・Base metal thickness: 2.3 mm ・Weld current: 300 A ・Weld speed: 1.1 m/min
Preventing undercuts with ideal penetration!
■Type of the droplet transfer
HD Pulse
Normal Pulse
1 dip by 1 pulse (Short-circuit transfer)
Short
Narrow
1 drop by 1 pulse (Drop transfer)
Dip
（Short-circuit）
Long
Wide
Drop
Concentrated arc
■Spray transfer range: 280 A or more
Weld process
SP-MAG Ⅱ
Normal-Pulse
HD-Pulse
good
good
excellent
good-fair
excellent
good
Penetration pattern
fair
good-fair
excellent
Undercut
fair
fair
excellent
Heat input
fair
fair
good
Gap handling
fair
fair
good
Overall
fair
fair
excellent
Weld speed
Spatter
SP-MAG Ⅱ disadvantage:
Spatter in high-current range.
Normal-pulse disadvantage:
Undercuts in high-speed welding.
HD-Pulse process is ideal for
high-current and high-speed welding.
6
External Communication（Ethernet）
Production and Quality Control on LAN
The LAN connection
allows you to share
welding data with
other robots and
improve production
and quality control.
Lift Start / Lift End
Quality Weld Starts and Ends.
Spatter and Cycle Time Reduction.
The robot lifts up the welding torch quickly at the start
and end of the weld. By coordinating the robot motion
with the welding waveform and wire feed control, quality
and cycle time are improved.
(Much quicker than wire retraction.)
Lift Start
Spatter
Reduction
At arc start
Flying Start
Executes arc-on/off programs a little before the torch
reaches the weld start/end point to reduce cycle times.
Standard Arc Start
Contact
Lifting up
Lift End
Cycle Time
Reduction
Cycle time reduction
Weld start point
Wire feed start
Flying Start
Reduction
Arc is struck
the moment torch
reaches weld start point.
Wire feed start
Lifting up
Arc start
Cycle Time
Weld start point
Arc start
At arc end
Arc Start Retry (for CO₂/MAG)
Detecting a failure of arc start, the robot automatically
starts arc ignition again.
Failure of arc start
Arc re-start
Wire Auto Retract
As the robot moves to weld start points, the wire is
retracted automatically; thereby, improving arc start.
End of a weld
Wire retraction
Moving toward
next weld point
Next weld point
Moving toward next weld point
Torch Angle Display (Teach Pendant)
Torch angle is displayed on the screen, making it possible
to reduce teaching time and obtain consistent bead
appearance.
Wire Stick Auto Release (for CO₂/MAG)
Automatically detects a wire stuck at the end of a
weld and re-ignites the arc to release the wire.
Pitch Movement ("Jog settings")
This function enables robot movement at a pre-set
distance by every click of
the jog dial. This is useful
when working in narrow,
constricted spaces or in
fine-tuning robot position.
7
Program Test
In Teach mode,
operator can safely
verify taught program
including welding
without switching
to Auto mode.
Weld Data Management
Big progress toward ideal production and quality control.
Samples weld data with a interval of up to 50 micro seconds,
allowing high-precision monitoring and status/error output.
The data can be stored and used for quality control.
Standard
Weld Monitor
Monitors data such as weld current, voltage and wire feed speed
constantly and warns when abnormality is detected.
Optional Software
Weld Data Management
Weld Monitoring (Expanded function)
Up to 50 weld monitoring conditions can be defined.
Weld Data Logging/Recording
Data such as weld current, voltage and wire feed speed can be
logged according to the preset triggers. The log data can be
graphed on the teach pendant and recorded on SD memory card.
Optional Software
Welding Data Log
Logs data of weld sections. The log data can be saved for analysis.
Example of log data analysis
Wire target position misalignment caused by production lot change
120
Current (A)
110
19
100
90
18
80
17
70
16
60
50
Voltage (V)
Output current
Output voltage
20
Changes of average current/voltage
9
10
11
12
14
Production time
15
16
15
Available for defect rate reduction
More advanced welding system available
Auto Extension Control
Optional Software
Compensates heat distortion or teaching error
of odd-shaped work.
Utilize features such as external communication and
large capacity memory.
Synchronous Weaving Low Pulse (Spiral Weaving Included)
【Spiral weaving movement】
Torch movement
Condition A
Robots detects changes in wire extension and
compensates automatically.
Condition B
・Weld current
Condition B
Condition A
・Wire feed speed
・Synchronizes weld current,
wire feed speed and weaving
completely.
・Alternates condition A/B
during weaving, which is
ideal for welding of different
thickness plates. (One for
thin plate, the other for thick
plate)
Cooperative Multi-Robot Control
Allows cooperative control between two robots.
8
Innovative Ultra-Low
Spatter Process
Active Wire Feed Process (AWP)
(Active Wire Feed Process)
WGⅢ
High-precision wire feed control achieves lower spatter welding.
TM
TL
1100 1800
1400 2000
1600
1800
AWP is an innovative process that greatly reduces spatter by combining waveform control and
wire feed control. It produces much less spatter than TAWERS SP-MAG or MTS-CO2 process.
Conventional Process
Active Wire Feed Process
Constant speed wire feed.
Limit in spatter reduction.
・TM: Separate or Through-arm
・TL: External
Continuous back and forth wire feed.
Spatter reduction by stable short-arc cycle.
Servo Pull Torch
Wire Booster
Active Wire Feed Process Software
System for
High-Precision
Wire Feed
YT-CET351T**
YW-PCF041
YA-1TPMW1
Consult us for details.
Greatly reduced spatter generation! Minimizing spatter size!
CO₂ gas welding
TAWERS CO₂
Stainless steel MIG welding
Mixed gas (MAG) welding
TAWERS SP-MAGⅡ
Active TAWERS
TAWERS SP-MAGⅡ
Active TAWERS
Active TAWERS
70 % reduction at 200 A
CO₂ gas welding
80
60
Mixed gas (MAG) welding
80
90 % reduction
at 200 A
60
Arc starting
100
100
100
80
80 % reduction
at 200 A
40
40
40
20
20
20
0
0
0
140 A
200 A
260 A
140 A
CO₂: 90 ％ reduction
MAG: 80 ％ reduction
60
200 A
Suppresses the increase of spatter
caused by torch angle changes
CO₂
MAG
100
Reduces spatter sticking to
workpieces by minimizing
spatter size.
Improves product quality and
reduces the time to remove
spatter or clean the floor.
Effective on gap welding of
thin stainless steel plates,
preventing burn through.
■ Spatter generation by torch angle (CO2)
80
60
40
20
0
9
Push angle 45° Push angle 30° Perpendicular
Pull angle 30° Pull angle 45°
Lower Spatter, More Deposition,
and Deeper Penetration for
Wider Applications
Hot Active Wire Feed Process (Hot-AWP) Hot-AWP（Hot-Active Wire Feed Process）
WGⅢ
Takes full advantage of the Active TAWERS performance by combining control
for higher wire acceleration/deceleration and new welding waveform control.
TM
TL
1100 1800
1400 2000
1600
1800
・TM: Separate or
Through-arm
・TL: External
Hot Active Software
Just add to
Active TAWERS.
YA-1TPMX1
Active TAWERS
Low-spatter performance enhanced from Active TAWERS. Wider current range!
CO₂ welding
MAG welding
Spatter generation
Spatter generation
100
100
80 % spatter reduction
at 300 A
80
60
compared with TAWERS (CO₂)
40
60
89 % spatter reduction
at 250 A
40
compared with TAWERS
(SP-MAGⅡ)
80
TAWERS（CO2）
20
0
Active TAWERS（CO2）
Hot Active TAWERS
（CO2）
250 A
300 A
Recommended current range
Current (A)
300 A
300
260 A
200
Active
80
CO₂ welding
Plate thickness guideline:
Up to 3.2 mm
Hot Active
Plate thickness guideline:
Up to 6.0 mm
TAWERS（SP-MAGⅡ）
20
0
Active TAWERS
（MAG）
Hot Active TAWERS
（MAG）
200 A
250 A
Recommended current range
MAG welding
Current (A)
300
200
80
250 A
200 A
Active
Plate thickness guideline:
Up to 1.6 mm
Hot Active
Plate thickness guideline:
Up to 2.3 mm
More deposition and more heat input improve bead shape!
・Leg length ・Penetration ・Bead shape
Hot-AWP
AWP
More Deposition
More Heat Input
Flat surface
114 % deeper penetration
26 % longer leg length
Weld conditions: ・Joint: Fillet ・Base metal: Mild steel SPCC (t3.2 mm) ・Weld current: 250 A ・Weld speed: 60 cm/min ・Wire: YGW12 (1.2 mm) ・Shielding gas: CO₂
10
Zinc-Coated Steel
Welding Technology
Solution to Reduce
Spatter and Blowholes
Zinc-Coated Steel Welding Solution
Using
Solid Wire!
FEATURE Reduce Spatter and Blowholes with TAWERS Zi-Tech.
TAWERS TAWERS
Zi-Active Zi-Pulse
WGⅢ
WGⅢ/WGHⅢ
TM
TL
1100 1800
1400 2000
1600
1800
TM
TL
1100 1800
1400 2000
1600
1800
・TM: Separate or
Through-arm
・TL: External
Effective for welding zinc-coated welding. Greatly reduced spatter and blowholes!
TAWERS Zi-Active TAWERS Zi-Pulse
―Solution Using Active TAWERS
―Solution Using Standard TAWERS
Uses standard welding wire. (1.2 mm solid wire)
Uses CO₂ gas. (Active Wire Feed Process)
Effective on a wide range of coating
weight from 45 to 190 g/m².
Uses standard welding wire. (1.2 mm solid wire)
Uses mixed gas of 90 % Argon and 10 % CO₂.
(HD-Pulse Weld Process)
Effective on a wide range of coating
weight from 45 to 60 g/m².
System for Both High-Quality and
Low Running Costs
Optional Software for High-Quality
Welds and High Productivity
Servo Pull Torch
Wire Booster
Zi-Active Software
TAWERS Zi-Pulse Software
Just add to
standard TAWERS
(TM/TL series).
YT-CET351T**
YW-PCF041
YA-1TPMZ1
YA-1TPMZ1
Standard TAWERS
（WGⅢ）
75 to 95 % Spatter Reduction Compared with Conventional CO₂ Process 30 to 60 % Spatter Reduction Compared with Mixed Gas of 80 % Ar+20 % CO₂
A lot of spatter adhesion
Little spatter adhesion
A lot of blowholes
Few blowholes
Weld Conditions:・Wire: YM-50 (1.2 mm)・Joint: Lap・Gas: CO₂
・Weld Current: 220 A・Weld Speed: 50 cm/min
・Plate Thicknesses: 2.3 mm x 2.3 mm
11
Coating Weight: 45 g/㎡
90 % Argon/10 % CO₂
80 % Argon/20 % CO₂
（Zi-Pulse）
X-Ray Bead
Image Appearance
X-Ray Bead
Image Appearance
Coating Weight: 190 g/㎡
Conventional
TAWERS Zi-Active
TAWERS CO2
（Active CO2）
A little spatter adhesion
A lot of blowholes
Little spatter adhesion
Few blowholes
Weld Conditions:・Wire: YM-50MT (1.2 mm)・Joint: Lap・Weld Current: 230 A
・Weld Speed: 80 cm/min
・Plate Thicknesses: 2.0 mm x 2.0 mm
Great for Thin Plate Welding.
Low Spatter and
No Burn-through.
Active Brazing Process
WGⅢ
Low-spatter performance of Active TAWERS is available for brazing.
TM
TL
1100 1800
1400
1600
1800
Active Brazing Software
・TM: Separate
・TL: External
Just add to
Active TAWERS.
YA-1TPMP1
Active TAWERS
Note: Only 1.0 mm wire is available.
Contact us for details.
【MIG Brazing】
Active Wire Feed Process
Wire's melting
point is low.
(approx. 900
to 1000 ℃)
Base metal is hardly melted.
Melted wire fills joint gap.
Continuous back and forth wire feed.
Spatter reduction by stable short-arc cycle.
Combination of MIG brazing and Active Wire process. Great for thin plate welding.
Active Brazing
Standard MIG brazing
Burn-through
Large spatter adhesion
Less spatter, no burn-through
Example of thin plate welding
・Joint: Flare groove joint of pipes ・Plate thickness: 1.0 mm ・Wire size: 1.0 mm
■Arc characteristics
Wire material
Silicon (Si) blaze
Aluminum (AL) blaze
Shielding gas
Ar 100 %
Ar 100 %
φ1.0
φ1.0
Wire size (mm)
Recommended wires:
・Silicon (SI) braze: 1.0 mm CuSi3Mn
・Aluminum (Al) braze: 1.0 mm CuAI8
Note: Perform test welding prior to actual welding.
12
Active Wire Process (AWP)
Also Available on Aluminum
Active TAWERS Aluminum
Active TAWERS's low-spatter performance is applied to aluminum MIG.
・TM: Separate
・TL: External
System for High-Quality Aluminum Welding
Servo Pull Torch
Wire Booster
Active Aluminum Software
YW-PCF041
YT-MET351T**
WGⅢ
TM
TL
1100 1800
1400 2000
1600
1800
YA-1TPMM1(for MIG welding)
YA-1TPMN1 (for Active Aluminum)
Consult us for details.
Active Wire Process for aluminum MIG! Less spatter and smut!
AWP's low-spatter performance proven in mild steel is applied to aluminum.
Short arc length by short-circuit transfer welding suppresses smut formation.
Comparison between beads of the same width
Active TAWERS Aluminum
Bead appearance
Conventional TAWERS (DC pulse)
・Weld current: 50 A
・Weld voltage: 18.0 V
・Weld current: 96 A
・Weld voltage: 10.2 V
Reduction of
Spatter and Smut
Smut
Spatter
Spatter adhesion, smut formation, concave bead
Good bead appearance
Weld conditions: ・Base metal: A5052 ・Joint: Lap ・Weld speed: 30 cm/min ・Plate thickness: 1.5 mm x 1.5 mm ・Spiral weaving (2.0 Hz)
Great for thin aluminum welding!
Example of 0.6 mm thin plate welding
No burn-through
Pull AC-MIG System
AC Unit
AC control and stable wire feed for
high quality aluminum MIG welding.
Powerful output for various welding.
AC Unit increases applications of aluminum MIG welding.
Note: This system cannot be used in combination with TAWERS Aluminum function. YX-350AC1
350 A rated output
Thin to thick plates
Supports both delicate thin aluminum AC welding and
powerful thick plate welding. (Output current: 22 A to 350 A)
Weld conditions:・Base metal: A5052 ・Joint: Butt ・Weld current: 50 A
・Weld speed: 150 cm/min ・Plate thickness: 0.6 mm
13
Weld conditions:
・Joint: Flat fillet welding
・Base metal: A5052
・Plate thickness: 15.0 mm
・Wire: A5356WY (1.2 mm)
・Weld speed: 40 cm/min
・Weld current:
280 A DC for one pass,
250 A DC for two or three passes.
High-Power Model for
Medium and Thick Plates
TAWERS for Medium and Thick Plates
Various functions for various applications
WGHⅢ
TM
TL
1100 1800
1400
1600
1800
Select necessary options.
Functions effective for medium/thick plate welding
Standard
Groove
Touch Sensor
YA-1UPST1K01
TAWERS
Touch Sensor
YA-1TPSA1
Standard
Touch Sensor
Optional
Thick Plate
Welding Function
YA-1UPMB1
Flexible
Multi-Cooperative
Robot Function
Medium Plate
Welding Function
YA-1UPMC1
External Axis
Harmonious Function
YA-1UPHA1
Other options
High Power TAWERS
（WGHⅢ）
Note: Touch Sensor Software and Wire Clamp Unit are supplied with TAWERS for Medium and Thick Plates.
Examples
How Touch Sensor works
Touches base metal and
determines line to be welded.
How Arc Sensor works
Detects positioning error
and determines line
to be welded again.
Detects misalignment or distortion and compensate it.
Right position
Weaving
Line to be
welded
Torch
Arc
Short arc
High current
Short arc
High current
Line to be
welded
Misalignment or distortion
Weaving
Long arc
Low current
Positioning
error
Current
A deviation of weaving center from joint
center changes balance of current changes.
Thick Plate Welding
Function (YA-1UPMB1)
Groove Touch Sensor Function
Variable Weaving Function
Senses groove width and center, and compensates
misalignment.
Supports changes of groove width.
Controls deposited metal amount and maintains uniform bead height.
Wide
Narrow
14
Dimensions & Work Envelope
（Unit: mm）
Short Type
Standard Type
TM-1100
Middle Type
TM-1400
TM-1600
1639
1437
1163
824
418
26130
1319
744
513
409 208
1117
404 556
200 210
Point P
Point P
Point P
1245
1899
446
1005
361
803
258 220
262 290
545
321
179
256162
327
Point P
working range
Point O
90
119 50
263
1034
1697
Point O
935
1423
Point O
244 291
369 456
69
170°
170°
R768 R1319
R744 R129
5
125
160
5
75
63
181.4
580
89
210 24
160
70’0.2
20
70’0.2
20
4-φ18
420
4×M8×1.25
Depth: 20
□ 300
φ370
850
120 131
0.2
420
70
20
39
61
Point O
working range
Point P
working range
580
210 24
4-φ18
181.4
400
420
181.4
75
63
210 24
160
640
R16
R1
0°
540
3
7
125
121 131
41
43
125
120 131
R1
R1
Point O
working range
Point P
working range
37
13
170°
R5
R5
R
R1 116
13 3
9
17
Point O
working range
Point P
working range
18
R4
42
04
R4428
R
R4
170°
495
17
0°
Point P
working range
4×M8×1.25
Depth: 20
4-φ18
□ 300
φ370
4×M8×1.25
Depth: 20
□ 300
φ370
Manipulator General Specifications
Model
TM-1100
TM-1400
TM-1600
TM-1800
TL-1800
TL-2000
Type
Short arm
Standard arm
Middle arm
Long arm
Long arm
Long arm
Structure
6 axis articulated
Payload
6 kg
4 kg
6 kg
8 kg
6 kg
1 639 mm
1 809 mm
1 801 mm
1 999 mm
Maximum Reach
1 163 mm
1 437 mm
Minimum Reach
418 mm
0 404 mm
513 mm
430 mm
383 mm
491 mm
Working Range
745 mm
1 033 mm
1 126 mm
1 379 mm
1 418 mm
1 508 mm
RT (Rotating trunk)
225°/s
210°/s
195°/s
195°/s
UA (Upper arm)
225°/s
210°/s
197°/s
197°/s
225°/s
215°/s
205°/s
205°/s
425°/s
425°/s
425°/s
385°/s
BW (Bending wrist)
425°/s
425°/s
425°/s
375°/s
TW (Twisting wrist)
629°/s
629°/s
629°/s
624°/s
4 700 W
5 050 W
Max.
FA (Forearm)
Motion
Speed RW (Rotating wrist)
Position Repeatability
Motors
0.08 mm
Total Power
Brakes
All axes
Mounting
Weight
15
0.15 mm
3 400 W
Floor / Ceiling*
156 kg
170 kg
180 kg
215 kg
215 kg
216 kg
*Ceiling mount type is factory optional.
Dimensions & Work Envelope
（Unit: mm）
Long Type
Long Type
TM-1800
TL-1800
430
824
375
1801
1489
Point P
TL-2000
1999
1481
383 457
71
2061
491
1679
602
Point P
Point P
Point O
170°
R517
R457
R4
R3 43
83
R1489
R1465
R180
R17 9
85
160
141
155
820
70
30
420
4-φ18
φ370
Dimensions*
Weight**
WGⅢ
WGHⅢ
135 kg
171 kg
Software servo control
WGHⅢ
6 axes simultaneously (Max. 27 axes)
Input: 40 points (Optionally expandable up to 2048 points)
Output: 40 points (Optionally expandable up to 2048 points)
3 phase, 200 V AC 20 V AC,
3 phase, 200 V AC 20 V AC,
22 kVA, 50/60 Hz
30.5 kVA, 50/60 Hz
CO2 / MAG / Stainless steel MIG / Pulse MAG / Stainless pulse MIG
Output Current Range
30 to 350 A DC
30 to 450 A DC
Output Voltage Range
12 to 36 V DC
12 to 42 V DC
CV: 80 % @ 350 A
Pulse: 60 % @ 350 A
100 %
Duty Cycle
550
（mm）
two USB 2.0 ports (USB 2.0. Hi-Speed not supported)
Welding Process
(with power unit)
553
WGⅢ
40 000 points
Teach Pendant: one SD memory card slot,
Input Power
4×M8×1.25
□ 300
■Controller
External Memory
Input and Output
0.2
φ370
Position Control
Control Axes
160
70
30
4-φ18
□ 300
φ370
W 553 mm x D 550 mm x H 1181 mm W 553 mm x D 550 mm x H 1407 mm
Memory Capacity
1020
0.2
4×M8×1.25
■Controller / Welder Technical Specifications
Model
155
*Protruding portions not included. **Teach pendant and connection cable not included.
■Teach Pendant
WGⅢ
76
290
WGHⅢ
（mm）
178
420
4×M8×1.25
R19
99
R1
939
170°
141
196
0.2
30
□ 300
160
140 60
196
70
196
Point O
working range
Point P
working range
750
750
89
210 24
75
58
R18
0
741 1
R1
170°
R1679
R1619
R5
R4 51
91
140 60
850
R1421
750
170°
2
R66
R602
R1481
420
R848
R824
Point O
working range
Point P
working range
120 131
4-φ18
41 390
346
735
Point P
working range
170°
R
R4 454
30
125
669
1394
203 390
435 537
Point P
working range
170°
Point O
working range
Point P
working range
406
471
311
545
223
1 181
（WGHⅢ=1407）
Point P
working range
1196
1204
445
421
112
992
1245
Point O
1234
Point O
2259
1809
2069
Long Type
16
Connection Diagram
TM-1400WGⅢ (Separate Type)
Flexible conduit
(for wire feed)
Gas regulator
(optional)
Drum hood
(optional)
*
Manipulator-Controller
cable unit
Welding power cable
Gas hose
*For use with drum packing wire only.
Large Robot Series (GⅢ Controller)
Great material handling capability!
Coordinated multi-robot
movement for flexible
system without jig.
YS-080GⅢ
Coordinated movement with
WGⅢ/GⅢ robot(s)
Allows to build flexible
system without jig.
Maximum configuration:
・Arc welding robot x 2
・Large robot x 1
■Manipulator General Specifications
Model
YS-080GⅢ
Type
6 axis articulated robot
Payload
80 kg
RT (Rotating trunk)
UA (Upper arm)
Working FA (Forearm)
Range
GⅢ controller for large robots
Same operation, maintenance and options as
conventional robots
Motion
Speed
Weight
17
-180°to +230°
RW (Rotating wrist)
360°
BW (Bending wrist)
125°
TW (Twisting wrist)
Max.
180°
-90°to +155°
360°
RT (Rotating trunk)
170°/s
UA (Upper arm)
140°/s
FA (Forearm)
160°/s
RW (Rotating wrist)
230°/s
BW (Bending wrist)
230°/s
TW (Twisting wrist)
350°/s
620 kg
Tilt-Rotate Positioners
High-Speed Type
R Series
■Specifications
Positioner unit
Name
YA-1RJC62
Model
Panasonic robots TM/TL series with GⅢ/WGⅢ controller
Applicable Robot
300 kg
500 kg
190.0°
/s (31 r/min)
165.0°
/s (27 r/min)
125.5°
/s (20 r/min)
90.0°
/s (15 r/min)
Payload
Max. Speed
Operating Range
Two types available: 300 kg and 500 kg payload
1.8 times faster maximum speed
compared with the conventional models.
Allowable Moment
YA-1RJC72
Rotation
Tilt
Rotation
-36 000 °to +36 000 °(with multi-rotation data reset function)
-135 °to +135 °
Tilt
Rotation
323 N・m
392 N・m
Tilt
882 N・m
1 274 N・m
0.05 mm (R=250 mm)
Position Repeatability
55 mm
Hollow Shaft Diameter
500 A @ 60 % duty cycle
Smallest-in-class footprint of 780 × 500 mm.
(300 kg payload model)
Allowable Welding Current
Easier installation with three selectable
cable outlet positions.
Applicable Welding Process
CO₂/MAG/MIG/TIG
External Axis Controller Type
Internal/External
Single-axis positioners
Payload: 250/500 kg
Payload: 1000 kg
■Specifications
Name
Model
Applicable Robot
Payload
RJB 12/22
RJB 32
Positioner unit
YA-1RJB22
YA-1RJB12
250 kg
500 kg
1 000 kg
190°
/s (31.6 r/min)
120°
/s (20 r/min)
120°
/s (20 r/min)
Operating Range
-36 000 °to +36 000 °(with multi-rotation data reset function)
Allowable Moment
196 N・m
490 N・m
1 470 N・m
1 470 N・m
1 470 N・m
6 125 N・m
Position Repeatability
Hollow Shaft Diameter
0.05 mm (R=250 )
55 mm
55 mm
Brakes
RJR 42
75 mm
Provided
Allowable Welding Current
500 A @ 60 % duty cycle
Weight
125 kg
Applicable Welding Process
RJR 52
YA-1RJB32
Panasonic robots TM/TL series with GⅢ/WGⅢ controller
Max. Rotational Speed
Allowable Torque
Side mount 2-axis positioners
285 kg
Weight
255 kg
CO₂/MAG/MIG/TIG
External Axis Controller Type
Internal/External
External
Harmonizer
Simple teaching
■Teaching example of complicated
workpiece
Rotation
center
Greatly reduced teaching points. (compared with conventional systems)
Rotation
direction
Absolute
position
Linear, circular interpolations and weaving movement are now available while rotating work with
the positioner. This allows easy torch positioning for complicated workpieces and high precision
welding with minimum teaching points.
Optimum welding position.
Positioner is rotated
manually
DTPSⅢ
Easy welding speed settings.
Welding speed can be set directly from robot regardless of pipe diameters.
It eliminates complicated calculation and reduces teaching time.
Relative
position
Optimum torch angle for the best bead shape is ensured by specifying the torch position to the
workpiece from either absolute or relative position.
Easy system settings.
System can be set on site and adjustable by the user.
Desk Top Programming & Simulation system
DTPS is a program simulation software developed
exclusively for Panasonic robots.
With this software, users can create
and edit robot programs and verify
robot motion offline.
<Features>
Useful edit function (batch conversion, shifting, etc.)
Highly-accurate movement simulation
3D graphics
Identical to robot operation
Simple CAD function for workpiece shape creation
Graphic import function (standard)
Multiple robot control
Windows Vista (SP2 or later) / 7
18
Feel the excellent performance of TAWERS
FATC
（Tangshan） FATC
（Shanghai） FATC
（Guanzhou）
FATC（Jhajjar）
FATC
（Pune）
FATC（Bangkok）
FATC（Dusseldorf）
We provide products that are friendly to the environment.
As an earth-friendly company, Panasonic Welding Systems Co., Ltd. discourages the use of hazardous
substances in our products. The products of Panasonic Welding Systems Co., Ltd. comply with the European
RoHS directive.
Safety precautions
Before attempting to use any welding product always read the manual to ensure correct use.
Panasonic Welding Systems Co., Ltd.
Global Sales and Marketing Group
1-1, 3-chome, Inazu-cho, Toyonaka, OSAKA 561-0854 Japan
TEL:81-6-6866-8505 FAX:81-6-6866-0709
http://www.panasonic.com/jp/company/pws/en.html
Panasonic Welding Systems (Tangshan) Co., Ltd.
No.9 Qingnan Rd.,Tangshan New & Hi-Tech Industrial Park,
063020 Hebei, China
TEL:86-315-320-6060 FAX:86-315-320-6070
http://pwst.panasonic.cn
Panasonic Welding Systems India
Industrial Plot No.1, Village Bid Dadri, Jhajjar - 124103,
Haryana, India
Panasonic Factory Solutions Company of America
5201 Tollview Drive Rolling Meadows, IL 60008-3711 USA
TEL:1-847-637-9700 FAX:1-847-637-9601
http://www.panasonicfa.com
Panasonic Factory Solutions Europe
Robot & Welding Systems
Jagenbergstr 11a, D-41468 Neuss Germany
TEL:49-2131-60899-0 FAX:49-2131-60899-200
http://www.industrial.panasonic.com/eu/
Panasonic Industrial Devices Sales (Thailand) Co., Ltd.
252/133 Muang Thai-Phatra Complex Building, 31st Fl.
Rachadaphisek Rd., Huaykwang, Bangkok 10320 Thailand
TEL:662-693-3421 FAX:662-693-3427
Specifications are subject to change without notice.
Windows is a registered trademark of Microsoft Corporation in the United States and other countries.
Catalog No.
IRTAW-TMTLWGⅢ
Printed in Japan [2015.1] 2-007K