6 Axis Articulated Arc Welding Robots

TAWERS Series
January 2015

TM/TL Series — Continuously Evolving TAWERS Robotic Welding

TM Manipulators That Support Both
External & Through-Arm Torch Cable Routing
Increased
Motion Speed
TM-1400: Speed of main 3 axes
increased by 22 % on average.
(approx. 42°/s more than conventional TA type)

Separate Through-Arm
Type Type
Superior wire
feedability and Focused on
reduced cable reducing cable
interference interference

Long-Arm & High Payload Type

TL Manipulators
External
Type
Focused on Payload
wire feedability TL-1800: 8 kg
TL-2000: 6 kg
 Robot Systems with
Integrated Welding
Power Source Technology

Torch type selectable to fit your application! WGⅢ/WGHⅢ

TM
TM-1400WGⅢ 1100
1400
1600
1800
TM series

Separate Type Through-Arm Type External Type

■Manipulator Lineup (as of January 2015)
Long-arm & high payload!
TM series TL series
WGⅢ/WGHⅢ 1100 1400 1600 1800 1800 2000
TL ○ ○ ○ ○ − −
1800
Separate
TL series

2000 ○ ○ ○ ○ − −
Through-Arm
Payload External ○ ○ − − ○ ○
TL-1800: 8 kg Payload 6 kg 4 kg 6 kg 8 kg 6 kg
TL-2000: 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)

External Type

A variety of features specialized for arc welding

Feature 1
( TM/TL ) Enhanced Fastest
Basic Performance in Industry
Feature 3
( TM/TL ) Structure Specialized for Welding
Clean Cable Management!
Increased Motion Speed as of April 2014*

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)**

Manipulator-Controller cable
Feature 2 ( TM) Arm Specialized for Welding (control)
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.

1 *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 WGⅢ/WGHⅢ

TM
Flexible conduit 1100
（for wire） 1400
1600

High Wire Feedability 1800

Less Cable Interference

Power cable
（for current and gas） Separate Type̶
Revolutionary new type of arc welding robot
with advantages of both Through-Arm Type
and External Type.

Feature 1 External Flexible Conduit R=large

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.

Feature 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

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

spatter welding.

80
HD-Pulse Low spatter
and high speed in
SP-MAG II Short-circuit transfer (1 pulse-1 dip)
Weld speed

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)
achieves low spatter.
high-current range
(Dip transfer range)

80 180 220 Weld current (A)

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

MTS-CO2 Low spatter in

Hot Active CO2 MTS control added to SP-MAG
low-current range
︵ cm/min
︶

technology reduces spatter of CO₂

Active CO2 welding.

MTS-CO2 Normal CO2

Weld speed

80 180 260 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 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
Micro-short Superimposes the current immediately after a short-circuit release and allows
Neck Fuse effect
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.
6
 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
next weld point Moving toward 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
100
Voltage (V)
Current (A)

90 18

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

Available for defect rate reduction

More advanced welding system available Utilize features such as external communication and
large capacity memory.

Auto Extension Control Optional Software Synchronous Weaving Low Pulse (Spiral Weaving Included)
【Spiral weaving movement】
Compensates heat distortion or teaching error ・Synchronizes weld current,
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
 Innovative Ultra-Low
Spatter Process

Active Wire Feed Process (AWP) (Active Wire Feed Process)

High-precision wire feed control achieves lower spatter welding. WGⅢ

TM TL
AWP is an innovative process that greatly reduces spatter by combining waveform control and 1100 1800
wire feed control. It produces much less spatter than TAWERS SP-MAG or MTS-CO2 process. 1400 2000
1600
Conventional Process Active Wire Feed Process 1800
・TM: Separate or Through-arm
・TL: External

Constant speed wire feed. Continuous back and forth wire feed.
Limit in spatter reduction. 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 Mixed gas (MAG) welding Stainless steel MIG welding
TAWERS CO₂ Active TAWERS TAWERS SP-MAGⅡ Active TAWERS TAWERS SP-MAGⅡ Active TAWERS

70 % reduction at 200 A
CO₂ gas welding Mixed gas (MAG) welding Arc starting Reduces spatter sticking to
100 100 100 workpieces by minimizing
80 80 80
spatter size.
90 % reduction 80 % reduction CO₂: 90 ％ reduction
60 at 200 A 60 at 200 A 60 MAG: 80 ％ reduction Improves product quality and
reduces the time to remove
40 40 40 spatter or clean the floor.
20 20 20 Effective on gap welding of
0 0 0 thin stainless steel plates,
140 A 200 A 260 A 140 A 200 A CO₂ MAG
preventing burn through.

100
Suppresses the increase of spatter ■ Spatter generation by torch angle (CO2)

caused by torch angle changes 80

60

40

20

0
Push angle 45° Push angle 30° Perpendicular Pull angle 30° Pull angle 45°

9
 Lower Spatter, More Deposition,
and Deeper Penetration for
Wider Applications

Hot Active Wire Feed Process (Hot-AWP) Hot-AWP（Hot-Active Wire Feed Process）
Takes full advantage of the Active TAWERS performance by combining control WGⅢ
TM TL
for higher wire acceleration/deceleration and new welding waveform control. 1100 1800
1400 2000
1600
1800
・TM: Separate or
Hot Active Software Through-arm
・TL: External

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 80 % spatter reduction 80 89 % spatter reduction

60
at 300 A 60
at 250 A
compared with TAWERS (CO₂) compared with TAWERS
40 40 (SP-MAGⅡ)
TAWERS（CO2） TAWERS（SP-MAGⅡ）
20 Active TAWERS（CO2） 20 Active TAWERS
（MAG）
Hot Active TAWERS
（CO2） Hot Active TAWERS
（MAG）
0 0
250 A 300 A 200 A 250 A

Recommended current range CO₂ welding Recommended current range MAG welding

Current (A) Current (A)

300 A
300 260 A 300 250 A

Active Hot Active

200 200
200 A
Hot Active
Plate thickness guideline:
Plate thickness guideline:
Up to 6.0 mm Active
Plate thickness guideline: Plate thickness guideline:
Up to 3.2 mm Up to 2.3 mm
Up to 1.6 mm
80 80

More deposition and more heat input improve bead shape!

・Leg length ・Penetration ・Bead shape
AWP Hot-AWP

Flat surface
More Deposition 114 % deeper penetration
More Heat Input
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

TAWERS TAWERS
Zinc-Coated Steel Welding Solution Zi-Active Zi-Pulse

Solid Wire!
WGⅢ WGⅢ/WGHⅢ

Using TM TL
1100 1800
1400 2000
TM TL
1100 1800
1400 2000
1600 1600
FEATURE Reduce Spatter and Blowholes with TAWERS Zi-Tech. 1800
・TM: Separate or
1800

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 standard welding wire. (1.2 mm solid wire)
Uses CO₂ gas. (Active Wire Feed Process) Uses mixed gas of 90 % Argon and 10 % CO₂.
Effective on a wide range of coating (HD-Pulse Weld Process)
weight from 45 to 190 g/m². Effective on a wide range of coating
weight from 45 to 60 g/m².

System for Both High-Quality and Optional Software for High-Quality

Low Running Costs Welds and High Productivity
Servo Pull Torch Wire Booster Zi-Active Software
TAWERS Zi-Pulse Software
Just add to
standard TAWERS
(TM/TL series).
YA-1TPMZ1
YT-CET351T** YW-PCF041 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
Coating Weight: 190 g/㎡ Coating Weight: 45 g/㎡
Conventional TAWERS Zi-Active 90 % Argon/10 % CO₂
TAWERS CO2 80 % Argon/20 % CO₂
（Active CO2） （Zi-Pulse）
Image Appearance

Image Appearance
X-Ray Bead

X-Ray Bead

A lot of spatter adhesion Little spatter adhesion A little spatter adhesion Little spatter adhesion

A lot of blowholes Few blowholes A lot of blowholes Few blowholes

Weld Conditions:・Wire: YM-50 (1.2 mm)・Joint: Lap・Gas: CO₂ Weld Conditions:・Wire: YM-50MT (1.2 mm)・Joint: Lap・Weld Current: 230 A
・Weld Current: 220 A・Weld Speed: 50 cm/min ・Weld Speed: 80 cm/min
・Plate Thicknesses: 2.3 mm x 2.3 mm ・Plate Thicknesses: 2.0 mm x 2.0 mm

11
 Great for Thin Plate Welding.
Low Spatter and
No Burn-through.

Active Brazing Process

Low-spatter performance of Active TAWERS is available for brazing. WGⅢ
TM TL
1100 1800
1400
Active Brazing Software 1600
1800
・TM: Separate
Just add to ・TL: External

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.

Standard MIG brazing Active Brazing

Large spatter adhesion Burn-through

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
Recommended wires:
Shielding gas Ar 100 % Ar 100 % ・Silicon (SI) braze: 1.0 mm CuSi3Mn
・Aluminum (Al) braze: 1.0 mm CuAI8
Wire size (mm) φ1.0 φ1.0 Note: Perform test welding prior to actual welding.

12
 Active Wire Process (AWP)
Also Available on Aluminum

Active TAWERS Aluminum WGⅢ

TM TL
1100 1800
1400 2000
Active TAWERS's low-spatter performance is applied to aluminum MIG. 1600
1800
・TM: Separate
・TL: External

System for High-Quality Aluminum Welding

Servo Pull Torch Wire Booster Active Aluminum Software

YT-MET351T** YW-PCF041 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
Conventional TAWERS (DC pulse) Active TAWERS Aluminum
・Weld current: 50 A ・Weld current: 96 A
・Weld voltage: 18.0 V ・Weld voltage: 10.2 V
Bead appearance

Reduction of
Smut Spatter and 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
Pull AC-MIG System AC Unit

AC control and stable wire feed for

high quality aluminum MIG welding.
No burn-through 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:
・Joint: Flat fillet welding
・Base metal: A5052
・Plate thickness: 15.0 mm
Weld conditions:・Base metal: A5052 ・Joint: Butt ・Weld current: 50 A ・Wire: A5356WY (1.2 mm)
・Weld speed: 150 cm/min ・Plate thickness: 0.6 mm ・Weld speed: 40 cm/min
・Weld current:
280 A DC for one pass,
250 A DC for two or three passes.

13
 High-Power Model for
Medium and Thick Plates

TAWERS for Medium and Thick Plates

WGHⅢ
TM TL
1100 1800
1400
1600
Various functions for various applications 1800

Select necessary options.

Functions effective for medium/thick plate welding
Standard Optional
Groove
Touch Sensor
YA-1UPST1K01
Thick Plate Flexible
Welding Function Multi-Cooperative
YA-1UPMB1 Robot Function

Medium Plate External Axis

TAWERS Welding Function Harmonious Function
Standard Other options
Touch Sensor YA-1UPMC1
Touch Sensor YA-1UPHA1
YA-1TPSA1

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 How Arc Sensor works
Touches base metal and Detects positioning error Detects misalignment or distortion and compensate it.
determines line to be welded. and determines line Right position Misalignment or distortion
to be welded again. Weaving Weaving
Torch
Line to be Arc
welded

Short arc Short arc

Line to be High current High current
welded
Long arc
Low current

Positioning Current
error
A deviation of weaving center from joint
center changes balance of current changes.

Thick Plate Welding

Groove Touch Sensor Function Variable Weaving Function Function (YA-1UPMB1)
Senses groove width and center, and compensates Supports changes of groove width.
misalignment. Controls deposited metal amount and maintains uniform bead height.

Wide Narrow

14
 Dimensions & Work Envelope
（Unit: mm）
Short Type Standard Type Middle Type
TM-1100 TM-1400 TM-1600
1639 1319
513 744
1437 1117
404 556 409 208
1163 824 200 210
418
26130 Point P Point P
Point P
Point O Point O

1899
1697
Point O
1423

1245
1034
935

90
258 220
262 290

119 50
263

361
321

446
545

803

1005
179
Point P 256162
working range 327 244 291
369 456 69
Point P 495
working range

0°
170° 170°

17
R768 R1319
R744 R129
5
R4
42 R5
37
R4428
R4

R R16
R

R1 116

R5
39
04
18

170° 13 3

13
Point O 9 170° R1
R1 61

17
working range 41
Point O 5

0°
Point P 3
R1

working range working range

Point O
43

Point P
working range
7

working range
Point P
working range

125 850 160

125 640 160 75
120 131 75 120 131
63 63
125 540 160
121 131
210 24
210 24

89
210 24

580
580

181.4 181.4 181.4

400

70’0.2
70 0.2 70’0.2 20
20 20
420
420
420

4×M8×1.25 4×M8×1.25 4×M8×1.25

Depth: 20 Depth: 20 Depth: 20

4-φ18 4-φ18 4-φ18

□ 300 □ 300 □ 300
φ370 φ370 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
Maximum Reach 1 163 mm 1 437 mm 1 639 mm 1 809 mm 1 801 mm 1 999 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
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 0.15 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 215 kg 216 kg

15 *Ceiling mount type is factory optional.

 Dimensions & Work Envelope
（Unit: mm）
Long Type Long Type Long Type
TM-1800 TL-1800 TL-2000
1999 1679
1809 1489 1801 1481 491 602
430 824 383 457
375 71

Point P Point P Point P

2259
Point O

2061
Point O Point O
2069

1245

1234
992
112

311

406
421

445

471

669
1196
1204

1394
Point P 223 545 Point P 203 390
working range working range 435 537 Point P 41 390
working range 346 735

170°
170° 170°

2
R517 R66
R848 R1489 R1481 R602 R1679
R457
R824 R1465 R1421 R1619
R R4
R4 454 R3 43 R5
30 R180 83 R4 51
R17 9 R18
0
91 R19
99
85 R1
741 1 R1
939

Point O
working range Point O
Point O working range
working range Point P 170°
170° working range Point P
Point P 170°
working range
working range

125 850 160

120 131 75 141 155 820 160 141 155 1020 160
58
210 24

140 60

140 60
89
750

750
750

196 196
196 70 0.2
70 0.2 70 0.2

30 30 30
420

420
420

4×M8×1.25 4×M8×1.25 4×M8×1.25

4-φ18 4-φ18 □ 300 4-φ18

□ 300 □ 300
φ370
φ370
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

External Memory Teach Pendant: one SD memory card slot,
two USB 2.0 ports (USB 2.0. Hi-Speed not supported)
1 181

Control Axes 6 axes simultaneously (Max. 27 axes)

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
■Teach Pendant
Welding Process CO2 / MAG / Stainless steel MIG / Pulse MAG / Stainless pulse MIG 76
290
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. 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 ■Manipulator General Specifications

 WGⅢ/GⅢ robot(s) Model YS-080GⅢ

Allows to build flexible Type 6 axis articulated robot

Payload 80 kg
system without jig.
RT (Rotating trunk) 180°
UA (Upper arm) -90°to +155°
Maximum configuration:
Working FA (Forearm) -180°to +230°
・Arc welding robot x 2 Range 360°
RW (Rotating wrist)
・Large robot x 1 BW (Bending wrist) 125°
TW (Twisting wrist) 360°
RT (Rotating trunk) 170°/s
UA (Upper arm) 140°/s
Max.
GⅢ controller for large robots Motion
FA (Forearm) 160°/s
RW (Rotating wrist) 230°/s
Same operation, maintenance and options as Speed
BW (Bending wrist) 230°/s
conventional robots
TW (Twisting wrist) 350°/s
Weight 620 kg

17
 ■Specifications
Tilt-Rotate Positioners

R Series
Name Positioner unit
High-Speed Type
Model YA-1RJC62 YA-1RJC72

Applicable Robot Panasonic robots TM/TL series with GⅢ/WGⅢ controller

Payload 300 kg 500 kg

Rotation 190.0°
/s (31 r/min) 165.0°
/s (27 r/min)
Max. Speed
Tilt 125.5°
/s (20 r/min) 90.0°
/s (15 r/min)

Rotation -36 000 °to +36 000 °(with multi-rotation data reset function)
Operating Range
Tilt -135 °to +135 °

Rotation 323 N・m 392 N・m

Allowable Moment
Two types available: 300 kg and 500 kg payload Tilt 882 N・m 1 274 N・m

1.8 times faster maximum speed Position Repeatability 0.05 mm (R=250 mm)
 compared with the conventional models. Hollow Shaft Diameter 55 mm

Smallest-in-class footprint of 780 × 500 mm. Allowable Welding Current 500 A @ 60 % duty cycle
 (300 kg payload model) Weight 285 kg

Easier installation with three selectable Applicable Welding Process CO₂/MAG/MIG/TIG

 cable outlet positions. External Axis Controller Type Internal/External

Single-axis positioners
■Specifications
Name Positioner unit
Payload: 250/500 kg Payload: 1000 kg Model YA-1RJB12 YA-1RJB22 YA-1RJB32
Applicable Robot Panasonic robots TM/TL series with GⅢ/WGⅢ controller
Payload 250 kg 500 kg 1 000 kg
Max. Rotational Speed 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)
RJB 12/22 RJB 32
Allowable Torque 196 N・m 490 N・m 1 470 N・m
Allowable Moment 1 470 N・m 1 470 N・m 6 125 N・m

Side mount 2-axis positioners

Position Repeatability 0.05 mm (R=250 )
Hollow Shaft Diameter 55 mm 55 mm 75 mm
Brakes Provided
Allowable Welding Current 500 A @ 60 % duty cycle
Weight 125 kg 255 kg
Applicable Welding Process CO₂/MAG/MIG/TIG
RJR 42 RJR 52
External Axis Controller Type Internal/External External

Harmonizer
Simple teaching Easy welding speed settings.
Welding speed can be set directly from robot regardless of pipe diameters.
■Teaching example of complicated It eliminates complicated calculation and reduces teaching time.
workpiece
Greatly reduced teaching points. (compared with conventional systems)
Linear, circular interpolations and weaving movement are now available while rotating work with
Rotation
the positioner. This allows easy torch positioning for complicated workpieces and high precision
Absolute
Rotation
direction position welding with minimum teaching points.
center
Optimum welding position.
Optimum torch angle for the best bead shape is ensured by specifying the torch position to the
Positioner is rotated
manually workpiece from either absolute or relative position.
Relative
position Easy system settings.
System can be set on site and adjustable by the user.

DTPSⅢ Desk Top Programming & Simulation system

<Features>
DTPS is a program simulation software developed Useful edit function (batch conversion, shifting, etc.)
exclusively for Panasonic robots. Highly-accurate movement simulation
With this software, users can create 3D graphics
and edit robot programs and verify Identical to robot operation
robot motion offline.
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
（Tangshan） FATC
FATC （Shanghai） FATC
（Guanzhou）

FATC（Jhajjar） （Pune）
FATC 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 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

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
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.

Panasonic Welding Systems India 252/133 Muang Thai-Phatra Complex Building, 31st Fl.
Industrial Plot No.1, Village Bid Dadri, Jhajjar - 124103, Rachadaphisek Rd., Huaykwang, Bangkok 10320 Thailand
Haryana, India TEL:662-693-3421 FAX:662-693-3427

Specifications are subject to change without notice.

Catalog No. IRTAW-TMTLWGⅢ
Windows is a registered trademark of Microsoft Corporation in the United States and other countries.
Printed in Japan [2015.1] 2-007K