6 Axis Articulated Arc Welding Robots

TM/TLGSeries

Separate Selectable from

Three Torch Types

Through-Arm External
TM Manipulators That Support Both External & Through-Arm Torch Cable Routing

Payload on Wrist Axis

TL-1800: 8 kg
TL-2000: 6 kg

External
TL Manipulators with Long Arm & High Payload
TM TL Series Combination with Full Digital

G
Welding Power Source Achieves
Stable and High Quality Welding

Torch type selectable to fit your application!

TM
1100
1400
1600
TM series

1800

Separate Type Through-Arm Type External Type

Manipulator Lineup (as of February 2015)
Long-arm & high payload!
TM series TL series
TL
1800 1100 1400 1600 1800 1800 2000
2000
Separate
Payload
TL series

TL-1800: 8 kg Through-Arm

TL-2000: 6 kg External

Payload 6 kg 4 kg 6 kg 8 kg 6 kg

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
TM Series Selectable from Three Torch Types.

G
Focused on Wire Feedability and
Reduced Cable Interference.
In addition to Through-Arm Type and External Type,

A third choiceSeparate Type

TM
Flexible conduit 1100
for wire 1400

High Wire Feedability

1600
1800

Less Cable Interference

Power cable
for current and gas Separate Type
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 exible 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
TM TL Series Advanced Hardware

G
and Software Improve
Performance

All new
G controller
controller
withwith
highadvanced
performance
performance !

Faster CPU reduces start-up time to about 30 seconds.

(50 % reduction from previous model)
Optional memory allows storing 800,000 teaching points
in addition to the standard 40,000 points.

Teach pendant
All new with enhanced
teach pendant operability
with easier operation !

Operating function key Same basic operation procedure with G2 Series model
Easy to use Windows based operation

Light weight design under 1 kg (0.99 kg) giving you less

stress during teaching

Liquid crystal LED back light improving impact resistance

USB and SD memory interface realizing great expandability

Increased number of function keys (four to eight),

User function key enabling same action with less key strokes during teaching

Improved maintainability
Swivel rack in the case makes
maintenance easy and saves space.

Cables with connectors on both

ends reduce Cable exchange
time.

Cables with
Swivel rack connector on both ends
3
 Torch Angle Display (Teach Pendant)
Torch angle is displayed
Weaving Function (6 patterns) on the screen, making it
You just have to teach the starting point, amplitudes, possible to reduce
turning points and ending point. Teaching time will be teaching time and obtain
reduced. consistent bead
appearance.

Overlap Function (CO/MAG welding)

In case of interruption during welding, the torch is
stepped back by reboot and resumes the welding
from the welding end point.

Arc start after

Turning points Interruption reboot and
during welding stepping back

Parallel Shift + RT Axis Rotating

Teaching time of same workpieces is reduced.
Arc Start Retry (CO/MAG welding)
Detecting a failure of arc start, the robot automatically
starts arc ignition again.

Failure of arc start Arc re-start

Shift Shift

Weld Navigation allows easy parameter setting

Easy setting with Teach Pendant
Model: 350GZ4
Two Easy Steps:

1. Select weld joint. The gure
changes according to the joint.

Arc Sensor
The sensor corrects deviation
from the taught weld line by
Note: Screens are subject to change
without notice. 2. Select plate thicknesses.
detecting weld current changes
Note: Torch angle and aiming point also calculated
That's all! during weaving welding.
Rich welding parameter The right parameters automatically
database developed 1
7
through our long Leg length and weld speed are also adjustable.
6
experience Weld Navigation
4
recalculates weld 2
current and voltage 3
"Weld Navigation" 5 Weaving
according to the end point
reduces parameter changes.
Weaving start point
setting time. (arc sensor start point)

Notes: Parameters by Weld Navigation are guideline only and do not guarantee welding result. Touch Sensor
The welding wire touches the
Consult us for material and processes available with Weld Navigation.

workpiece and compensates

a workpiece position error,
Expansion which reduces jig costs.

Multi-Mechanism Control Cooperative Multi-Robot Control

Controls maximum 6 groups of Allows cooperative control 2
robots and external axes in parallel. between two robots. 10 5 31
6 11
Units 9
7 8 4
Analog I/O Expansion Unit Relay Connection Unit
Welding start point
Terminal Block Conversion Unit External Power Input Unit
4
CO2 MAG MIG Combination with Full Digital

Robot SystemG
Welding Power Source Achieves
Stable and High Quality Welding

CO/MAG/MIG welding robot system selectable to fit your application

TM TL
Full Digital CO/MAG welding machines GZ4 series 1100 1800

SP-MAG
1400 2000
1600
Super-imposition Control) 1800

Equipped with TAWERS's SP Control

Praised by Many of Our Customers

SP-MAG benets:

SP-MAG
SP-MAG
Reduced spatter (Reduced removal work)
Shorter short-circuit cycle suited for high
speed welding
Shorter arc length for good bead
350GZ4 500GZ4 appearance TM-1400G (Separate)

Good bead appearance and low spatter even in high speed welding
Note: Optional parts are necessary to connect GZ4 to robot.
MAG welding (220 A)
Joint: FilletBase metal: Mild steel SPCC (t2.3 mm) Weld current: 220 A
Weld speed: 100 cm/minWire size: 1.2 mm (YM-50MT)
Shielding gas: MAG (80 % Ar + 20 % CO)
MIG welding (180 A)
Joint: FilletBase metal: SUS308(t1.5 mm) Weld current: 180 A
Weld speed: 80 cm/minWire size: 1.2 mm (Y308Lsi)
Shielding gas: MIG (98 % Ar + 2 % O)
Spatter generation
150 A range Conventional model 350GZ4
MAG welding
100
Spatter generation (conventional model: 100 %)

Up to 85 %*
spatter reduction
75 compared with 350GB2

Conventional model (150 A) 350GZ4 (150 A)

50

25

Joint: Fillet Base metal: Mild steel SPCC (t2.3 mm) Weld current: 150 A
0 Weld speed: 50 cm/minWire size: 1.2 mm (YM-50MT)
Conventional model 350GZ4
Shielding gas: MAG (80 % Ar + 20 % CO)
*UP to 80% spatter reduction from 500GB2 to 500GZ4
in 250 A range

CO/MAG/MIG
Welding Machine
Lineup for
High Quality Welds
350GZ4 500GZ4 350GE2 350GB2 500GB2

5
Medium/Thick Plate Welding Optional Functions Effective for
Robot SystemG Medium and Thick Plates

Medium/Thick Plate Welding System

Functions eective for medium/thick plate welding

Optional
Groove
Touch Sensor
YA-1UPST1K01
Thick Plate
Flexible Multi-Cooperative
Welding Function Robot Function
YA-1UPMB1
Arc Sensor
Medium Plate External Axis
MNU method
Touch Sensor Welding Function Harmonious Function
(for medium/thick plates) Other options
YA-1UPST1K04 YA-1UPMC1 YA-1UPHA1
Sequence commands

Standard G Robot (TM-1100/1400/1600/1800, TL-1800/2000)

Consult us for details.

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
to be welded again. Right position Misalignment or distortion
Weaving Weaving
Torch
Line to be
welded Arc

Line to be Short arc Short arc

welded High current High current
Long arc
Low current
Positioning
error Current

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

6
 TIG High Quality Welding
in Combination with
Robot SystemG Full Digital Welding Power Source

Robotic TIG welding system selectable to fit your application

TM TL
Model Selection Guide 1100
1400
1800

Filler wire dia. Welding

Type Material Robot
(mm) power source
Stainless steel 300BZ3 TM-1100
Autogenous
TM-1400
TIG (no filler) Stainless steel 300BP4
TL-1800
Aluminum 500BP4
Stainless steel 0.9
/1.2/
1.6 300BZ3 TM-1100
Filler TIG TM-1400
Stainless steel 300BP4
0.9
/1.2/
1.6 TL-1800
Aluminum 500BP4
Stainless steel 0.9
/1.2/
1.6 300BZ3
Rotary
TL-1800
filler TIG Stainless steel 300BP4
0.9
/1.2/
1.6 500BP4
Aluminum
Notes:
An external axis controller is necessary for rotary filler TIG welding.
Diameters in ( ) are available with optional parts.
Rotary filler TIG Welding Robot System
TL-1800G
Features of Rotary TIG Filler Unit TIG welding torch lineup
Optimum welding position
High precision filler wire feed
Improved workpiece accessibility

Filler wire tip

position is
adjustable YT-TCT201 YT-TCT401
in all directions. Air-cooled Water-cooled
35 % duty cycle at 200 A 60 % duty cycle at 400 A

TIG Welding Machine Lineup

That Oers High Quality Welding

AC/DC TIG welding machine DC TIG welding machine

300BP4 500BP4 300BZ3

7
 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
Point P 369 456 69
working range 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

4M81.25 4M81.25 4M81.25

Depth: 20 Depth: 20 Depth: 20

4-18 4-18 4-18

300 300 300
370 370 370

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
*Ceiling mount type is factory optional.

8
 Dimensions & Work Envelope O

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

4M81.25 4M81.25 4M81.25

4-18 4-18 300 4-18

300 300
370
370
370

Controller Specications
Controller
Model G
553 550
GIII
Dimensions*1 W 553 mm x D 550 mm x H 681 mm
mm

Weight* 2
60 kg

Memory Capacity 40 000 points

681

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)

Teach pendant
Input: 40 points (Optionally expandable up to 2048 points)
290 76 Input and Output
GIII Output: 40 points (Optionally expandable up to 2048 points)
mm
Input Power 3 phase, 200/220 VAC 20 V, 3 kVA, 50/60 Hz
178

*1: Protruding portions not included.

*2: Teach pendant and connection cables not included.

9
 Large Robot Series Great material handling capability!
Coordinated multi-robot movement
(G Controller) for flexible system without jig.
Coordinated movement with WG/G robot(s)
Allows to build exible system
without jig.
Manipulator General Specications
Maximum conguration: Model YS-080G
Arc welding robot x 2
Type 6 axis articulated robot
Large robot x 1
Payload 80 kg
RT (Rotating trunk) 180
UA (Upper arm) -90to +155
G controller for large robots
Same operation, maintenance and Working FA (Forearm) -180to +230
options as conventional robots Range RW (Rotating wrist) 360
BW (Bending wrist) 125
TW (Twisting wrist) 360
RT (Rotating trunk) 170
/s
UA (Upper arm) 140
/s
Max.
FA (Forearm) 160
/s
Motion
RW (Rotating wrist) 230
/s
Speed
BW (Bending wrist) 230
/s
TW (Twisting wrist) 350
/s
Weight 620 kg
YS-080G

Tilt-Rotate Positioners Specications

R Series Name Positioner unit

High-Speed Type
Model YA-1RJC62 YA-1RJC72

Applicable Robot Panasonic robots TM/TL series with G/WG 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)

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

Allowable Rotation 323 Nm 392 Nm

Two types available: 300 kg and 500 kg payload Moment
Tilt 882 Nm 1 274 Nm
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) 285 kg
Weight
Easier installation with three selectable Applicable Welding Process CO/MAG/MIG/TIG
cable outlet positions.
External Axis Controller Type Internal/External

Single-axis positioners
Specications
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 G/WG 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 000to +36 000(with multi-rotation data reset function)
RJB 12/22 RJB 32
Allowable Torque 196 Nm 490 Nm 1 470 Nm
Allowable Moment 1 470 Nm 1 470 Nm 6 125 Nm

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 CO/MAG/MIG/TIG
RJR 42 RJR 52
External Axis Controller Type Internal/External External

10
 Feel the excellent performance of TAWERS
FATCTangshan FATC
Shanghai FATC
Guanzhou

FATCJhajjar Pune
FATC Bangkok
FATC

FATCDusseldorf

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://eu.industrial.panasonic.com/

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. IRTMTL-G
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Printed in Japan [2015.2] 2-007U