AR2010

H I G H - S P E E D, T H R U -A R M D E S I G N

KEY BENEFITS
Increased payload, axis speeds
and wrist inertia improve
throughput and quality
Streamlined arm design reduces
interference
Expanded wrist range improves
application flexibility
Single robot-to-controller cable
connection enables fast setup

S P E C I F I C AT I O N S
12 kg payload
2,010 mm horizontal reach
3,649 mm vertical reach
0.03 mm repeatability

A P P L I C AT I O N • Extended reach six-axis AR2010 • Optimized feeder mounting

Arc Welding welding robot achieves unrivaled area on arm reduces equipment
welding performance. interference.
• Ideal for agriculture/construction • Modular robot harness design
CONTROLLER machinery or automotive frames. for improved diagnostics and
YRC1000 maintenance.
• 12 kg payload supports a wide
variety of motorized torches • Single pendant provides control
and sensors. of up to eight robots and multiple
positioners.
• Slim profile design allows close
proximity placement of robots for • Precise coordinated motion with
high-density workcells. other Yaskawa robots and servo
positioners.
• Contoured arm allows easy access
to parts in tight spots and avoids • Variety of advanced, exclusive
potential interference with fixtures. programming functions maximize
weld quality and speed.
• Symmetric wrist profile, with ample
range, provides equal torch access • Floor-mounted model is standard.
to both sides of part. Wall-, tilt- or ceiling-mounted
versions are available.
• High allowable moment and inertia
ratings provide wrist rigidity and • Compact YRC controller utilizes the
consistent weld quality. lightweight standard teach pendant
with intuitive programing.
• 50 mm thru-hole for torch cabling,
hoses and sensor wires reduces
cable interference and wear.
• Minimal protrusion from the U-axis
and internal S-axis routing prolong
cable life and maximize part access.
A R2010 R O B OT

VIEW A
Ø4 x6MM 22.5°
8X M4X0.7x8MM 45°
56

50 62
1710 2010 128
100
P-POINT
MAXIMUM
ENVELOPE
VIEW B
83 150 1082 100 INTERNAL USER AIR LINES 3/8”
A PIPE CONNECTION WITH PLUG (A)
INTERNAL USER AIR LINES 3/8”
200
P-POINT PIPE CONNECTION WITH PLUG (B)
400
760

INTERNAL USER WIRING CONNECTOR (BASE SIDE)

139 3649 TYPE JL05-2A20-29PC (WITH CAP) MATCHING CONNECTOR
IS NOT SUPPLIED BUT COMPLETE CABLES ARE
135 505 AVAILABLE AS AN OPTION.
B
VIEW C
C 316
375 200
4X Ø18 THRU 335
200
261 229 375
292 335
491
2X Ø12 THRU 260

VIEW D
180° INTERNAL USER WIRING CONNECTOR (WITH CAP)
TYPE JL05-2A20-29SC MATCHING CONNECTOR
D R561 IS NOT SUPPLIED BUT COMPLETE CABLES ARE
AVAILABLE AS AN OPTION.
INTERNAL USER AIR LINES 3/8”
R2010 PIPE CONNECTION WITH PLUG (A)
2X M10X1.5x18MM
229
INTERNAL USER AIR LINES 3/8”
30 PIPE CONNECTION WITH PLUG (B)

45 92 2X M10X1.5x12MM
R285
180° All dimensions are metric (mm) and for reference only.
Request detailed drawings for all design/engineering requirements.

S P E C I F I C AT I O N S
Maximum Allowable Allowable Item Unit AR2010
Axes Maximum speed
motion range moment moment of inertia
Controlled axes 6
degrees 0/sec N•m kg•m2
Maximum payload kg 12
S ±180 210 – –
Repeatability mm 0.03
L +155/-105 210 – –
Horizontal reach mm 2,010
U +160/-86 220 – –
Vertical reach mm 3,649
R ±150 435 22 0.65
Weight kg 260
B +90/-135 435 22 0.65
Internal user I/O cable 17 conductors w/ ground
T ±210 700 9.8 0.17
Internal user air line (1) 3/8" connection
Mounting Options: Floor, Wall, Tilt or Ceiling
Power requirements 380-480 VAC

Power rating kVA 2

OPTIONS
• Extended length manipulator cables • Seam tracking and seam finding packages
• Robot risers • Functional Safety Unit (FSU) AXES LEGEND
S-Axis: Swivel Base
• Wide variety of fieldbus cards • External axes L-Axis: Lower Arm
U-Axis: Upper Arm
• Vision systems • MotoSim® offline programming R-Axis: Arm Roll
B-Axis: Wrist Bend
• Variety of weld packages T-Axis: Tool Flange

YASKAWA AMERICA, INC. 100 Automation Way | Miamisburg, OH 45342

937.847.6200 | motoman.com

Technical specifications subject to change without notice. | Motoman is a registered trademark.

All other marks are the trademarks and registered trademarks of Yaskawa America, Inc.
DS-845 ©2021 Yaskawa America, Inc. JANUARY 2021