6 Axis Articulated Arc Welding Robots

TAWERS Series
January 2018  

Continuously Evolving TAWERS!

Separate Type Through-Arm Type External Type

TS series TM series TL series
 Robot Systems with
Integrated Welding
Power Source Technology

Torch type selectable to fit your application! WGⅢ/WGHⅢ

TM
TM-1400WGⅢ 1100
1400
1600
1800
2000
TM series

Separate Type Through-Arm Type External Type

Superior wire feedability and Focused on reducing cable Focused on wire feedability
reduced cable interference interference

Space saving & high payload! Long-arm & high payload!

TS-950
WGⅢ/WGHⅢ WGⅢ/WGHⅢ
TS TL
800 1800
950 2000
TS series

TL series

Payload Payload
8 kg 8
TL-1800: kgkg
TS-800/950 6
TL-2000: kg

External Type Through-Arm Type External Type

■Manipulator Lineup (as of January 2018)

TS series TM series TL series

800 950 1100 1400 1600 1800 2000 1800 2000

Separate − − ○ ○ ○ ○ ○ − −

Through-Arm ○ ○ ○ ○ ○ ○ ○ − −

External ○ ○ ○ ○ − − − ○ ○

Payload 8 kg 6 kg 4 kg 6 kg 8 kg 6 kg
Rated Welding Output:
WGⅢ: 350 A @ 80 % duty cycle (CV). 350 A @ 60 % duty cycle (pulse).
WGHⅢ: 450 A @ 100 % duty cycle (CV/pulse)
1
A variety of features specialized for arc welding

Featuree 1( TM/TL ) Enhanced

Basic Performance
Featuree 3
( TM/TL ) Structure Specialized for Welding
Clean Cable Management!
Increased Motion Speed
TM-1400: Speed of main 3 axes increased by 22 % on average.
(approx. 42°
/s more than TA type)
[Option]
Extended Reach Internal Flexible Conduit
TM-1400: 1 437 mm (63 mm more than TA type) (for wire feed)**

2
Manipulator-Controller cable
(control)
Featuree (TS/TM) Arm Specialized for Welding
Manipulator-Controller cable
(motor power)
Cantilever Structure Welding power cable
makes arm compact and
improves accessibility to Gas hose [Option] Internal Flexible
workpieces. (with valve) Conduit (for wire feed)**

**For use with drum packing wire only.

In addition to Through-Arm Type and External Type,

A third choice̶Separate Type (TM series)

Revolutionary new type of arc welding robot with
High Wire Feedability
advantages of both Through-Arm Type and External Type.. Less Cable Interference
Featuree 1 External Flexible Conduit R=large
conduiit
Flexible conduit

Torch cable
R=small

[Separate Type]
Gentle curve of flexible conduit
between wire feeder and torch
[Conventional Type] body achieves stable wire feeding.

Featuree 2 Through-Arm Power Cable An example of circumferential welding

[Conventional Type] Suppresses
twist of wire!
Power cable inter-
ference can occur
depending on the
Interference welding position.

[Separate Type] Reduces target position error

Through-arm power Reduced at weld start and end points!
cable reduces cable interference
interference. 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.
Note: Torch angle and aiming point also calculated
That's all!
Rich welding parameter
database developed The right parameters automatically
through our long experience Leg length and weld speed are also adjustable.
Weld Navigation
recalculates weld
"Weld Navigation" current and voltage
reduces parameter according to the
setting time. changes.

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.

Swivel rack Cables with connectors on both ends

3
 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 Standard
Note: 1.2 mm mild steel wire used for this guide.

SP-MAG II Low spatter

Secondary switching and SP/HS
Super Active MAG control achieve stable arc and low
in low-current
HD-Pulse
︶
︵ cm/min

Active MAG spatter welding. range

80
HD-Pulse Low spatter
and high speed in
Weld speed

SP-MAG II Short-circuit transfer (1 pulse-1 dip)

minimizes undercuts in high speed high-current range
welding.
40
Normal-Pulse Normal-Pulse Low spatter in
Short-circuit transfer range Spray transfer range Droplet transfer (1 pulse-1 drop)
high-current range
(Dip transfer range) achieves low spatter.

80 180 220 280 Weld current (A)

CO₂ welding Note: 1.2 mm mild steel wire used for this guide.
Standard

MTS-CO2 Low spatter in

Super Active CO2 MTS control added to SP-MAG
︵ cm/min
︶

technology reduces spatter of CO₂ low-current range

Active CO2 welding.

MTS-CO2 Normal CO2

Weld speed

80 180 260 320 Weld current (A)

Super Active Wire Feed Process

Achieves even lower spatter with
high-precision control of wire feed speed.

Super Active MAG

Super Active CO2 See the page of “Super 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 generation
（MAG）
spatter in short-circuit transfer range. 100

■ Spatter comparison (1 minute at 200 A) 90 % spatter

75
reduction at 150 A
Conventional welder (350GB2) TAWERS
（SP-MAG Ⅱ） （compared with 350GB2）

Recommended
350GB2 Panasonic wire
50
SP-MAG Ⅱ YM-50MT used.
Spatter
reduction 25

0
150 A 200 A 250 A

SP-MAG Ⅱ current waveform

Short-circuit cycle (conventional mixed gas welding)
① Initial short-circuit control
Detects initial short-circuit and then the secondary switching* circuit reduces
Short-circuit cycle (SP-MAGⅡ) weld current rapidly to prevent micro-short circuit that causes spatter.
④
② Neck control
Detects a neck of the droplet and then the secondary switching* circuit
Current reduces weld current rapidly to prevent fuse effect that causes spatter.

Dotted line: ③ HS control

Conventional Suppresses weld pool oscillation and prevents micro-short circuit that causes
Initial ① ② ③ After arc ignition mixed-gas welding spatter.
short-circuit Short circuit release

④ SP control
Neck Fuse effect Micro-short Superimposes the current immediately after a short-circuit release and allows
circuit
Conventional mixed-gas welding for higher wire-melting speed. This makes the next short circuit smooth and
also makes the short-circuit cycle shorter.

① ② ③④ Weld pool *Secondary switching is the spatter reduction process that rapidly reduces weld
oscillation SP-MAG Ⅱ current immediately before and after shot-circuit and allows for smooth transitions
between arc and short circuit.

MTS-CO2 （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.
Conventional CO₂ process (350GB2)
CO2 welding delivers uniform pan-bottom shaped penetration.
■Spatter generation（CO2） Penetration comparison
100
0.9 mm Conventional CO₂ 0.9 mm MTS-CO₂
75 % spatter
75
reduction at 150 A
（compared with 350GB2）

350GB2 MTS-CO₂
50
MTS-CO₂
1.1 mm
1.1 mm
25

・Joint: Fillet ・Base metal: 2.3 mm mild steel SPCC ・Weld current: 120 A
0
150 A 200 A 250 A ・Weld speed: 0.3 m/min ・Wire: YGW12 (1.2 mm) ・Shielding gas: CO2

5
 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

Preventing undercuts during HD Pulse Normal Pulse
high speed welding. Undercut

Gap:
Dip (Short circuit) transfer
0.4 mm
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) 1 drop by 1 pulse (Drop transfer)

Dip
（Short-circuit） Long Drop
Short Narrow Wide

Concentrated arc

■Spray transfer range: 280 A or more

Weld process SP-MAG Ⅱ Normal-Pulse HD-Pulse
SP-MAG Ⅱ disadvantage:
Weld speed good good excellent
Spatter in high-current range.
Spatter good-fair excellent good

Penetration pattern fair good-fair excellent Normal-pulse disadvantage:

Undercut fair fair excellent
  Undercuts in high-speed welding.

Heat input fair fair good

Gap handling fair fair good

HD-Pulse process is ideal for
Overall fair fair excellent
high-current and high-speed welding.
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 External Communication（Ethernet） Lift Start / Lift End
Production and Quality Control on LAN Quality Weld Starts and Ends.
The LAN connection Spatter and Cycle Time Reduction.
allows you to share The robot lifts up the welding torch quickly at the start
welding data with and end of the weld. By coordinating the robot motion
other robots and with the welding waveform and wire feed control, quality
improve production and cycle time are improved.
(Much quicker than wire retraction.)
and quality control.
Lift Start
Spatter
Reduction
At arc start

Flying Start
Contact Lifting up
Executes arc-on/off programs a little before the torch
reaches the weld start/end point to reduce cycle times. Lift End
Standard Arc Start Cycle Time
Reduction
At arc end
Cycle time reduction

Lifting up
Weld start point Wire feed start Arc start
Flying Start
Cycle Time Arc Start Retry (for CO₂/MAG)
Reduction
Arc is struck
Detecting a failure of arc start, the robot automatically
the moment torch starts arc ignition again.
reaches weld start point.
Wire feed start Weld start point
Arc start 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. Torch Angle Display (Teach Pendant)
End of a weld Wire retraction Next weld point
Moving toward
Torch angle is displayed on the screen, making it possible
Moving toward next weld point
next weld point 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.

Program Test
Pitch Movement ("Jog settings")
This function enables robot movement at a pre-set In Teach mode,
distance by every click of operator can safely
the jog dial. This is useful verify taught program
when working in narrow, including welding
constricted spaces or in without switching
fine-tuning robot position. to Auto mode.

7
 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.

Weld Monitor Standard

Monitors data such as weld current, voltage and wire feed speed
constantly and warns when abnormality is detected.

Weld Data Management Optional Software

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.

Welding Data Log Optional Software

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
Changes of average current/voltage Output current
Output voltage
120 20
110
19

Voltage (V)
Current (A)

100
90 18

80 17
70
16
60
50 15
9 10 11 12 14 15 16
Production time

Available for defect rate reduction

Utilize features such as external communication and

More advanced welding system available large capacity memory.

Auto Extension Control Optional Software Synchronous Weaving Low Pulse (Spiral Weaving Included)
【Spiral weaving movement】 ・Synchronizes weld current,
Compensates heat distortion or teaching error
Torch movement wire feed speed and weaving
of odd-shaped work. Condition A completely.
Robots detects changes in wire extension and
・Alternates condition A/B
compensates automatically. Condition B during weaving, which is
・Weld current Condition B
ideal for welding of different
thickness plates. (One for
thin plate, the other for thick
Condition A plate)
・Wire feed speed

Cooperative Multi-Robot Control

Allows cooperative control between two robots.
8
 Small Type Arc Welding Robots Dimensions & Work Envelope
For working envelope of point O, consult us. （Unit: mm）
Short Type Short Type

TS Series TS-800
841 689
TS-950
Point P
971
101 486
818

Payload: Point P 159 381 working envelope 168

working envelope 148
8 kg
TS-800/950
Point P Point P

1180
1251
Point O Point O

1121

844
713

509
439
284

238
145

29
254

353
381

511
216 3
158 86
170 471
190 556
Point P
Point P working envelope
working envelope
Point O
working envelope

71
Point O 170°

R9
working envelope

1
170

4
°

R8
0
77 00
R R9

2
R45
6
R48
R818
R689
R747
R618
TS-800 TS-950 R55
7
R1

R2 190
R23

R
59

61
0

170°

Succeed TAWERS' welding performance 170°

●Various welding styles

 Super Active TAWERS / TAWERS-TIG / 126 120 100 329 65 126 120 100 459 65
71

 TAWERS or others 71
103

103
35

35

【TW axis: Hollow arm】

375

375

Torch type selectable between through-arm

and external
345

345

4×φ14 4×φ14 □170

【Separate wire feeder】 □170
232 232
Free layout

■Manipulator General Specifications

Model TS-800 TS-950
Type Short arm Short arm
Structure 6 axis articulated
Payload 8 kg
Maximum Reach 841 mm 971 mm
Improve small work productivity Minimum Reach 159 mm 190 mm
Working Range 682 mm 781 mm
●Space saving RT (Rotating Trunk) 326 /s
UA (Upper Arm) 326 /s
 48 % smaller footprint Max. FA (Forearm) 510 /s
 (example of one customer, compared with our TM-1100) Motion
Speed RW (Rotating Wrist) 518 /s
 Floor/Wall/Ceiling mount BW (Bending Wrist) 518 /s
 (Ceiling mount type is special specification.) TW (Twisting Wrist) 1 040 /s
Position Repeatability ±0.05 mm
●High speed despite 8 kg payload Motors
Total Power 2 100 W
Brakes All axes
 Maximum motion speed: 540 /s Mounting Floor/Ceiling*1/Wall*2
 (average for all axes) Weight 55 kg 56 kg
*1: Ceiling mount type is factory optional.
15 *2:・Setting by service personnel is necessary. ・Working range of RT axis is limited.
 Dimensions & Work Envelope
（Unit: mm）
Short Type
125 540 160
TM-1100 1163
418
26130
824 121 131

210 24
Point P 170°

Point O

1423

400
935
181.4
0.2
70

262 290
R4
42 20

R4
321
R
R1 116
545

81
170° 13 3

420
Point O 9 4×M8×1.25
179 working range Depth: 20
Point P 256162 Point P
working range 327 working range
4-φ18 □ 300
φ370

Standard Type 1437 1117 125 640 160

TM-1400 404 556

200 210
120 131 75
63

210 24
Point P
170°

89
Point O
1697

1034

580
181.4
258 220

119 50

R4428
R
263

0.2
70

04
20
803

170° R1
Point O 41

420
R1
working range 3 4×M8×1.25

43
244 291 Depth: 20
Point P

7
369 456
working range
4-φ18 □ 300
φ370

Middle Type 1639

513
1319
744 125 850 160
75

TM-1600 409 208 120 131

63

210 24
0°

Point P
17
1899

Point O
1245

R768 R1319

580
R744 R129
5
90

181.4 0.2
R5 70
37 20
361

R16
R5
446

39
13
1005

R1
17

61
0°

420
5
4×M8×1.25
Point O Depth: 20
69 working range
Point P 495 Point P 4-φ18
working range working range □ 300
φ370

Long Type 120 131

125 850
75
160

TM-1800
1809 1489
430 824 58
210 24

375
170°

89
Point P

Point O
2069

750
1245

R848 R1489
0.2
R824 196 70
R1465
112

R
R4 454 30
30 R180
R17 9
421

445

85
1204

420

4×M8×1.25
Point O
working range 170°
Point P 4-φ18
Point P 223 545 □ 300
working range working range
φ370

Manipulator General Specifications

Model TM-1100 TM-1400 TM-1600 TM-1800 TM-2000 TL-1800 TL-2000
Type Short arm Standard arm Middle arm Long arm Long arm Long arm Long arm
Structure 6 axis articulated
Payload 6 kg 4 kg 6 kg 8 kg 6 kg
Maximum Reach 1 163 mm 1 437 mm 1 639 mm 1 809 mm 2 011 mm 1 801 mm 1 999 mm
Minimum Reach 418 mm 0 404 mm 513 mm 430 mm 550 mm 383 mm 491 mm
Working Range 745 mm 1 033 mm 1 126 mm 1 379 mm 1 461 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
Max. FA (Forearm) 225°
/s 215°
/s 205°
/s 205°
/s
Motion
Speed RW (Rotating wrist) 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
Position Repeatability 0.08 mm 0.10 mm 0.08 mm 0.15 mm
Total Power 3 400 W 4 700 W 5 050 W
Motors
Brakes All axes
Mounting Floor / Ceiling*
Weight 156 kg 170 kg 180 kg 215 kg 217 kg 215 kg 216 kg
*Ceiling mount type is factory optional.
16
 Dimensions & Work Envelope
（Unit: mm）
Long Type
TM-2000 2011
550
376
1691
1002
120 131
125 1057
75
160

170° 58

210 24
Point P

89
2271

Point O

1415

750
R1026 R1691
R1002 R1667 196
R5 70±0.2
74 30
522

R5
624
R20

50
R1 11
98
1406

420
4×M8×1.25
Point O
working range
170°
Point P 49 Point P 4-φ18 □300
working range 747 working range φ370

Long Type
TL-1800 1801 1481
141 155 820 160
383 457
71
170°

140 60
Point P
2061

Point O

750
R517
992

R1481 196
R457
R44 R1421 0.2
70
R3 3
83 30
311

471

R1
R1 801
741
1196

420
Point O
working range
Point P 4×M8×1.25
170°
Point P 203 390 working range
working range 435 537 4-φ18 □ 300
φ370

Long Type
TL-2000 1999
491 602
1679
141 155 1020 160
170°
140 60

Point P
2259

Point O
1234

750

2
R66 196
R602 R1679
R1619 70 0.2
R5
R4 51 30
91
406

R19
99
669

R1
939
420
1394

Point O 4×M8×1.25
working range
Point P 170°
working range 4-φ18
□ 300
Point P 41 390
working range 346 735 φ370

■Controller / Welder Technical Specifications ■Controller (with power unit)

Model WGⅢ WGHⅢ 553 550

WGⅢ
Dimensions* W 553 mm x D 550 mm x H 1181 mm W 553 mm x D 550 mm x H 1407 mm
WGHⅢ
Weight** 135 kg 171 kg （mm）
Memory Capacity 40 000 points
（WGHⅢ=1407）

Position Control Software servo control

Teach Pendant: one SD memory card slot,
External Memory
two USB 2.0 ports (USB 2.0. Hi-Speed not supported)
Control Axes 6 axes simultaneously (Max. 27 axes)
1 181

Input: 40 points (Optionally expandable up to 2048 points)

Input and Output
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,

Input Power 22 kVA, 50/60 Hz 30.5 kVA, 50/60 Hz
50/60 Hz (Max. current at servo on: 246 A/5.6 ms) ■Teach Pendant
Welding Process CO2 / MAG / Stainless steel MIG / Pulse MAG / Stainless pulse MIG 290 76
WGⅢ
Output Current Range 30 to 350 A DC 30 to 450 A DC
WGHⅢ
Output Voltage Range 12 to 36 V DC 12 to 42 V DC （mm）
178

CV: 80 % @ 350 A
Duty Cycle 100 %
Pulse: 60 % @ 350 A
*Protruding portions not included. **Teach pendant and connection cable not included.
17 Note: For details on the power connection, refer to "Connecting primary power source" in the arc welding robot controller manual.
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 HS-220GⅢ

■Manipulator General Specifications

Model YS-080GⅢ HS-220GⅢ

Coordinated movement with Type 6 axis articulated robot

 WGⅢ/GⅢ robot(s) Payload 80 kg 220 kg

RT (Rotating trunk) 180 ° 178 °
Allows to build flexible
UA (Upper arm) -80 ° +155 ° -65 ° +80 °
system without jig.
Referenced from Horizontal -140 ° +230 ° -130 ° +230 °
Working FA (Forearm)
Referenced from upper arm -80 ° +180 ° -73° +190 °
Maximum configuration: Range
RW (Rotating wrist) 360 ° 360 °
・Arc welding robot x 2 125 ° 128 °
BW (Bending wrist)
・Large robot x 1 TW (Twisting wrist) 360 ° 360 °
RT (Rotating trunk) 170°
/s 120°
/s
UA (Upper arm) 140°
/s 105°
/s
Max.
FA (Forearm) 160°
/s 110°
/s
Motion
230°
/s 145°
/s
GⅢ controller for large robots Speed
RW (Rotating wrist)
BW (Bending wrist) 230°
/s 145°
/s
Same operation, maintenance and options as
TW (Twisting wrist) 350°
/s 220°
/s
conventional robots 0.15 mm
Position Repeatability
Weight 645 kg 955 kg

18