vision, robotics and motion 2018 … · © 2017 yaskawa confidential information all rights...

June 4, 2018 | 1© 2017 YASKAWA CONFIDENTIAL INFORMATION ALL RIGHTS RESERVED | YEU_PPTX_Template_V1_2017© 2017 YASKAWA CONFIDENTIAL INFORMATION ALL RIGHTS RESERVED | YEU_PPTX_Template_V1_2017

VISION, ROBOTICS AND MOTION 2018

COLLABORATIVE APPLICATIONS WITH YASKAWA

June 6-7, 2018

Ing. Christopher Schneider

Dr. Martina Mironovova

June 4, 2018 | 2© 2017 YASKAWA CONFIDENTIAL INFORMATION ALL RIGHTS RESERVED | YEU_PPTX_Template_V1_2017

AGENDA

1. Briefly About YASKAWA

• Actual, History

• Products

2. About Collaborative Robot HC10

• Technical description, accessories

• Certifications

3. Collaborative Applications

• Which markets, which industries, which applications?

• How far to go?

4. Approach of YASKAWA in Collaborative Applications

• What type of analysis is needed before purchasing collaborative robot?

• Applicability of MRK, workstation arrangements

• Target variables

• Resource planning

• Economic evaluation

• Contacts


Briefly About YASKAWA


A GLOBAL LEADING TECHNOLOGY SUPPLIER FOR THE

AUTOMATION MARKETS

€ 3,5 BillionSales p. a.

14.500Employees

Regional presence

4 strategic business units:

Japan, Asia (incl. China), America, Europe (EMEA)

TOP 100 GLOBAL

INNOVATORS

3 times awarded

(2015, 2016 and 2017)

Development

of motors for

mining

Development

of DC Minertia-

motors

Launch of

DC servo

motors

Development

of first

MOTOMAN

robot

Launch of

frequency

converters

and AC servo

drives & motors

Robot portfolio:

>100 different

robots

Introduction of

dual arm robot

and first

matrix converter

1915 1950s 1960s 1970s 1990s 2000s 2010s

46%35%

12% 6%

Split

business units

System

technology

Robotics Motion & Control

> € 11 BillionMarket Capitalization

IT

YASKAWA

EUROPE


A REGIONAL PARTNER

FOR THE EUROPEAN AUTOMATION INDUSTRY

Sales partners in all

markets in the EMEA

region:

100+ Channel Partners

• Drives Motion

Control

• Energy & Marine

Network of System

Integrators

• Robots

• Motion Control

YASKAWA Country

Organizations in the

most important

markets:

23 European

YASKAWA entities

6 European

Manufacturing locations

• Robotics

• Drives Motion Control

• Energy & Marine

Foundation of

YASKAWA Electric

GmbH

1970s

Start sales of

Frequency inverters

and Servos

1990s

Merger of Robotics

and D&M into

YASKAWA

EUROPE GmbH

2010

Acquisition of

PLC supplier

VIPA

2012Acquisition of

The Switch,

a player in Wind

and Marine Energy

2014

Complete regional

Management of

YASKAWA EMEA

2015/16

The EMEA presence:

Europe

Middle East

Africa

Russia


38%

48%

14%

YASKAWA EUROPE: DYNAMIC GROWTH

> € 550 Millions

Sales p. a.Employee

development

Motion &

ControlEnergy

Robotics

274

331 339368

396

448

501

551

2010 2011 2012 2013 2014 2015 2016 2017

Sales development

in million €Fiscal year > 10%

Continuous

sales growth:

(CAGR)

Split

business units

Development

resources:

> 350 engineers

European

development

focus:

Technology Products Application

1.200 ➔ 1.800

Micro chips,

SoC, ASICs

Inverters,

Generators,

Positioners,

Motors

Robot

applications,

Communication

interfaces


YASKAWA EUROPE

ONGOING INVESTMENT

Investment in Europe is the key for continuous growth.

YASKAWA EMEA will …

• be even closer to customers in order to react quicker,

• develop new markets such as clean energy and marine (electrification of vessels),

• expand local production to optimize the supply chain and guarantee excellent customer service,

• expand local development capacity to be closely involved in European innovation and technology (e.g. Industry 4.0),

• contribute experience and competence to the European discussion on innovation (mechatronic, humatronic),

• and offer practical solutions for further industrial automation: i3-Mechatronics: integrated, intelligent, innovative

YASKAWA's contribution to Industrie 4.0.

Glasgow

ScotlandRibnica

Slovenia

Vaasa

FinlandTorsås

Sweden

Allershausen

Germany

Kočevje

Slovenia


ROBOTICS FOR DIVERSE APPLICATIONS

Wide portfolio:

4-axis up to 15-axis robotsSoftware

Services

MotoSim - simulation

MotoLogix – PLC interface

YaskawaCockpit – predictive

maintenance


About Collaborative Robot HC10


HC10 COLLABORATIVE ROBOT

• 10 kg payload

• 1,200 mm max. reach

• Max. speed 1 m/s

• Integrated force-torque sensors in each joint

• Easy teaching and easy guiding (direct teaching function without

teach pendant via SwitchBox)

• Integrated wiring (16 wires) and 2 air hoses through the robot arm

for the end effector

• Robot designed among others in compliance with:

• ISO 10218-1

• ISO 10218-2

• ISO 13849-1 PLd Cat. 3

• ISO TS 15066

• Product complies with requirements for machines defined in Annex I

of the EC Directive 2006/42/EC.

• Safety functions:

• Release from clamping

• Stop function

• Avoidance function


PFL (POWER AND FORCE LIMITING) FUNCTION

SAFETY FUNCTION

• The robot compares the calculated

torque and the measured torque from

the posture and calculates an

external force torque.

• When the external force that a robot

receives exceeds a limit level (each

axis, TCP), the robot stops.

• When the restart switch of the robot

is pushed, the robot removes a

protection stop and restarts

movement.

Joint Torque

Sensors

Restart

Switch

Lamp

(Collaborative

Operation

indication)

Lamp

(Servo On indication)

End of arm tooling through axis

(no cables around the arm)


HC10 WITH FUNCTIONAL SAFETY UNIT

Yellow area:

• Limiting the working space of the HC10 to prevent

the robot from working at head height

• No clamping options, therefore higher collaborative

speed feasible

Red area:

• Clamping possibilities available

• Speed reduction in this area


ROBOT OPTIONS: HC10DT WITH SWITCHBOX

SwitchBox with HC10DT

• Tool for easy teaching

• HW on T-axis of the robot with buttons:

• TEACH

• TOOL

• FINISH

• SW application on Smart Pendant with

explanationsSwitchBox for easy teaching


ROBOT OPTIONS: SMART PENDANT – SOLUTION FOR EASE OF USE

• 10.1” WXGA TFT Display

• 1280 x 800 pixels

• LED back light touch panel

• Capacitive Touchscreen

• 215W x 283.5H x 68.5D mm

• Weight 1.1 kg

• Drop Tested: 1 m

• External Storage: USB memory

Smart Pendant for HC10

Smart Frame Jogging

JOB playback


APPLICATION ACCESSORIES

HC10 with Robotiq gripper

Grippers – Integrated Solution

• Cooperation with:

• Zimmer

• Schunk

• Weiss Robotics

• Robotiq

• Accessories as plug-n-play solution (HMI interfaces)

Automatic Screwdriver with Screw Feeder

• Developed by Stöger Automation

• Automatic screwdriver with automatic feeding mechanism

• Safety dual channel signal in the tip

• Motor static mounted

• Pneumatic cylinder for screw positioning

HC10 with Stöger Screwdriver


COLLABORATIVE ROBOT MOTOMAN HC10

•Teach by Hand Guiding

•Quick Fault Recovery

•Eliminate Basic Training Needs

• Innovative Pinch less Geometry

•Through Arm Utilities Reduce Risk

•Power and Force Limiting with FSU

•Reduced Physical Guarding

•Built in Networked Safety IO

•Proven Robot Quality & Support

•Real Payload and Speed

•Application Software Suite

•Built in PLC Simplifies Integration

Capable Affordable

EasySafe

Improves

Production

Rate

Faster and

Sustained ROI

Empower

Existing Staff

Space Saving &

Productivity

Improvement


Collaborative Applications


FORMS OF COLLABORATION

Coexistence Cooperation Collaboration

• Robot and human have

separated working

areas and do not

interfere frequently

• Human can occasionally

enter working zone of

the robot


shared working areas

• Human can enter

working zone of the

robot regularly

• Both of them work on

separate tasks


shared working area

• Human enters the

working zone of the

robot frequently or

constantly

• Human closely interfere

with the robot


ROBOT APPLICATIONS IN EUROPE

Source: Master Thesis: Schneider

Strongest growth (Europe, 2015-2016)

• Handling Operations & Machine Tending

• Assembling & Disassembling

Strongest handling application (Europe)

• Material handling

• Plastics Moulding

Strongest branch (Europe)

• Automotive

• Plastics& Chemical, Metal


HRC APPLICABILITY IN DIFFERENT FACTORY AREAS


Most suitable:

• Logistics

• Locksmith‘s shop

• Metal-cutting-

manufacturing

• Quality control

• Assembly

• Surface machining

• Functional testing


ANALYSIS OF 21 COLLABORATIVE APPLICATIONS

Source: Master Thesis: Schneider, according to Fraunhofer IAO, 2016

▪ Assembly ▪ Automotive ▪ Coexistence

▪ 200-4000g ▪ Economic benefits ▪ Pick & Place


DEVELOPMENT OF COLLABORATIVE ROBOTS (GLOBAL)

Source: Master Thesis: Schneider, according to BIS, 2016

• Electrical &

Electrotechnical

• Automotive

• Plastics & Polymer

• Material Handling

• Machine Tending

• Small Parts Assembly

Mil.

US

DM

il. U

SD


AUTOMATION LEVELS OF WORKSTATIONS

Source: own graphic, according to Lotter et.al, 2012


Approach of YASKAWA in Collaborative

Applications


APPLICABILITY OF HRC

Economical Methodology:

• Define system boundaries characterized by four attributes:

1. Alternatives

• Product or process related

• Manual, HRC, fully automated processes

• Actual engineering possibilities – process specific

2. Environment conditions

• Standalone or integrated workstation in the factory

• Inputs as dynamic restrictions

3. Results

• Observation scope of alternatives

4. Time frame

• Period of evaluation of alternatives

Quality Triangle:

• Find an optimal way how to utilize skills of human and robot

• Choose appropriate automation grade according to the scope and

ease of each task

• Cooperating

• Fully manual

• Fully automated


Cost

TimeQuality

Break-Even-Analysis of different

automation levels


ARRANGEMENTS OF WORKER, ROBOT AND MATERIAL

Source: Master Thesis: Schneider, according to Thiemermann, 2005


LAYOUT INTEGRATION OF COOPERATIVE WORK STATIONS

Source: Master Thesis: Schneider, according to Thiemermann, 2005

C M

MM

M

MMMM

C

Material

MA

A

CC M

A

A

AAA

A

• Autonomous unit

• Small lot sizes with

high variety

• Big work contents by

task division

• Second station for

order peaks possible

U ShapeCell production Square

• Chaku Chaku work system

based on LEAN and TPS

• Suitable for high variety in

workload

• Adjustment of facility

output by amount of

workers

• Parallel connection of manual

and cooperation work stations

• Big work scopes & low Takt

Times

• Modular facility arrangements

C = Collaborative

M = Manual

A = Automated


FLEXIBLE LAYOUT

Source: Master Thesis: Schneider, according to Spillner, 2014

• U-form for job rotation

• Collaborative area

• Multiple-machine

operation and machine

tending

• Linear axis


ADVANTAGES OF HRC

• Increased efficiency and quality, higher output, improved ergonomics and higher

flexibility

• Increased flexibility of the whole facility and of the work station itself

• Increased scalability of work stations by assigning work to cobot at peak times

• Enlarged work contents due to cobot

• Optimization of tact times and workload assignment – decrease workload of a human

• Job enlargement and job enrichment by work scope re-location

• Optimized ergonomics for the worker – reduction of accidents and illness absence

Human worker:

• Superior in complex tasks (learning, adapting, deciding or creative thinking)

• More flexible for complicated or steadily changing parts or environments

• no longer a necessity to stay the whole time at one station - greater flexibility enables the worker

to finish work at other stations, while the robot is working at the original one

Robot:

• Repetitive tasks with the need for high precision, endurance, speed and reliability

• Simple robot programs - the collaborative robot does not have to do all the work, only the easy

and repeating sequences



TARGET VARIABLES

Technical target variables:

• Enabler for achievement of economical and social targets

• Consider technical reliability of the facility (technological risk)

• For measurement, use KPIs: Overall Equipment Effectiveness (O.E.E.), Takt Time, Machine

downtime, Availability, Quality, Accessability

Economical target variables:

• Net present value

• Utility analysis

• ROI

• Consider to calculate costs over the life cycle: Employee’s cost rate, Acquisition cost,

Commissioning cost, Maintenance cost, Cost for waste disposal, Occupancy cost, Training cost,

Energy cost, Cost for software, Other cost

• Consider task division, sequence planning, resource planning, transport and logistics, tact time

identification and optimization

Social target variables:

• Difficult to measure: Ergonomics, Environment conditions, Acceptance, Employee motivation



CONTACTS

YASKAWA Benelux B.V.

Science Park Eindhoven

5031 Industrieterrein

Ekkersrijt

5692 EB son

Tel: + 31 40 289 55 00

[email protected]

Martina Mironovova

YASKAWA Europe GmbH

Yaskawastraße 1

85391 Allershausen

Tel: +49 (0) 8166-90-237

[email protected]

Christopher Schneider

YASKAWA Europe GmbH

Yaskawastraße 1

85391 Allershausen

Tel: +49 (0) 8166-90-236

[email protected]

mailto:[email protected]



vision, robotics and motion 2018 … · © 2017 yaskawa confidential information all rights...

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