Multi-Purpose Robot MOTOMAN-MH and UP Series · assembly, machine tending*2, arc welding, spot...

MOTOMAN-MH, UP Series

Programming Pendant Speci�cationsItems

DimensionsMassMaterial

OperationDevice

Display

IEC Protection Class

Cable Length

169 (W)×50 (D)×314.5 (H) ｍｍ0.990 kgReinforced plasticsSelect keys, axis keys, numerical/application keys, mode selector switch with keys (mode : teach, play, and remote), emergency stop button, enable switch, compact �ash card interface device (compact �ash is optional), USB port (1 port)5.7-inch color LCD, touch panel 640×480 pixels(Alphanumeric characters, Chinese characters, Japanese letters, Others)IP65Standard : 8 m,Max. : 36 m (with optional extension cable)

Speci�cations

Robot Controller DX200 Speci�cationsItems

Con�guration

Dimensions, Mass

Cooling SystemAmbientTemperatureRelative Humidity

Power Supply

Grounding

Digital I/Os

Positioning SystemProgrammingCapacityExpansion SlotsLAN (Connection to Host)InterfaceControl Method

Drive Units

Painting Color

Dust proof IP54

MH5S , MH5LS , MH12, MH24, MH24-10, MH50 ,MH50 -20, MH50 -35, MH80 , MH110, MH180，MH180-120, MH215 , MH225, MH250 , MH280 : 600 (W)×520 (D)×730 (H) mm*(Possible to control two external axes) , 100 kg

MH400 , UP400RD , MH600：600 (W)×640 (D)×730 (H) mm*(Possible to control two external axes) , 110 kg

Indirect coolingDuring operation : 0˚C to +45˚CDuring storage : −10˚C to +60˚C90% max. (non-condensing)Three-phase 200 VAC (+10%, －15%), 50/60 Hz (±2%)Three-phase 220 VAC (+10%, －15%), 60 Hz (±2%) Grounding resistance : 100 or lessSpecialized signals ：28 inputs and 7 outputsGeneral signals ： 40 inputs and 40 outputsMax. I/O (optional) : 4096 inputs and 4096 outputsSerial communications (absolute encoder)JOB : 200,000 steps, 10,000 instructionsCIO ladder : 20,000 stepsPCI : 2 slots

1 (10BASE-T/100BASE-TX)

RS-232C : 1chSoftware servo controlSERVOPACK for AC servomotors(can control up to 9 axes)Front panel :Light gray (Munsell notation N7.7 or equivalent)Body except front panel : Dark gray (Munsell notation N3 or equivalent)

* : Dimensions of the controller only. Does not include any attachments.

Speci�cations

Sales Department

HEAD OFFICE2-1 Kurosaki-Shiroishi, Yahatanishi-ku, Kitakyushu, Fukuoka 806-0004, JapanPhone: +81-93-645-7703 Fax: +81-93-645-7802

YASKAWA America, Inc. (Motoman Robotics Division)100 Automation Way, Miamisburg, OH 45342, U.S.A.Phone: +1-937-847-6200 Fax: +1-937-847-6277

YASKAWA Europe GmbH (Robotics Division)Yaskawastrasse 1, 85391, Allershausen, GermanyPhone: +49-8166-90-100 Fax: +49-8166-90-103

YASKAWA Nordic ABVerkstadsgatan 2, Box 504 ,SE-385 25 Torsas, SwedenPhone: +46-480-417-800 Fax: +46-486-414-10

YASKAWA Electric (China) Co., Ltd.22F, One Corporate Avenue, No.222 Hubin Road, Huangpu District, Shanghai 200021, ChinaPhone: +86-21-5385-2200 Fax: +86-21-5385-3299

YASKAWA SHOUGANG ROBOT CO., LTD.No.7 Yongchang North Road, Beijing E&T Development Area China 100176Phone: +86-10-6788-2858 Fax: +86-10-6788-2878

YASKAWA India Private Ltd. (Robotics Division)#426, Udyog Vihar Phase-IV, Gurgaon, Haryana, IndiaPhone: +91-124-475-8500 Fax: +91-124-475-8542

YASKAWA Electric Korea Corporation35F, Three IFC, 10 Gukjegeumyung-ro, Yeongdeungpo-gu, Seoul, Korea 07326Phone: +82-2-784-7844 Fax: +82-2-784-8495

YASKAWA Electric Taiwan Corporation12F, No.207, Sec. 3, Beishin Rd., Shindian District, New Taipei City 23143, TaiwanPhone: +886-2-8913-1333 Fax: +886-2-8913-1513

YASKAWA Electric (Singapore) PTE Ltd151 Lorong Chuan, #04-02A New Tech Park, Singapore 556741Phone: +65-6282-3003 Fax: +65-6289-3003

YASKAWA Electric (Thailand) Co., Ltd.59, 1st-5th Floor, Flourish Building, Soi Ratchadapisek 18,Ratchadapisek Road, Huaykwang, Bangkok 10310, ThailandPhone: +66-2-017-0099 Fax: +66-2-017-0199

PT. YASKAWA Electric IndonesiaSecure Building-Gedung B Lantai Dasar & Lantai 1 Jl. Raya Protokol Halim Perdanakusuma, Jakarta 13610, IndonesiaPhone: +62-21-2982-6470 Fax: +62-21-2982-6471

Speci�cations are subject to change without notice for ongoing product modi�cations and improvements.

© 2009-2017 YASKAWA ELECTRIC CORPORATION

LITERATURE NO. KAEP C940440 22K <16>-0

16-8-43Published in Japan February 2017

In the event that the end user of this product is to be the military and said product is to be employed in any weapons systems or the manufacture thereof, the export will fall under the relevant regulations as stipulated in the Foreign Exchange and Foreign Trade Regulations. Therefore, be sure to follow all procedures and submit all relevant documentation according to any and all rules, regulations and laws that may apply.

Certi�ed forISO9001 andISO14001

JQA-EM0202JQA-0813R009QMS Accreditation

MOTOMAN-MH and UP SeriesMulti-Purpose Robot

2

Best Performance in its class

Applicable in Severe Environments

High speed and high precision have been achieved by using high-speed, low-inertia AC servomotors and state-of-the-art control technology. A slimmer robot form has also been developed, while wrist allowable inertia has been increased.

The waterproof and dustproof structure (IP67 class level)*1 at the wrist part enables the robot to operate in environments subject to water drops and dust.

Total Solutions to Achieve Short Processing

Yaskawa builds optimum facilities with a complete lineup and the new DX200 robot controller.

SpaceSaveHardware

Manipulator

*1 : MH5S and MH5LS are available as options.

Energy

Line-up of Multi-purpose Robot

Robot Controller DX200

The DX200 is a low-floor robot controller developed with Yaskawa’s expertise acquired through the development of products for various applications. The amplifier for three external axes and other options that previously required attachment tools can now be housed inside a standard cabinet, reducing the required space for installation by up to 50%. The safety functions have been strengthened by improving the safety performance of the speed limiting function and tool switching monitoring function.

Installation space for

the control panel is

reduced by 50%.

5

0

10

15

20

100

200

300

400

500

1000 2000 3000 4000Maximum reach (mm)

Pay

load

( kg)

Applications

Payload

Maximum reach

1

2

Handling of small to large workpieces, assembly, machine tending*2, arc welding, spot welding, sealing and glue application, cutting workpieces, etc.

110kgR2236mm

1

2

20kgR3106mm

1

2

600kgR2942mm

1

2

400kgR2942mm

1

2

280kgR2446mm

1

2

225kgR2702mm

1

2

180kgR2702mm

1

2

24kgR1730mm

1

2

12kgR1440mm

1

2

5kgR706mm

1

2

5kgR895mm

1

2

80kgR2061mm

1

2

400kgR3518mm

1

2

MH600MH600MH600

MH400MH400

MH5SMH5S

UP400RDUP400RD

MH12MH12

MH24MH24

MH24-10MH24-10

MH180MH180

MH180-120MH180-120

MH225MH225215kgR2912mm

1

2MH215MH215

250kgR2710mm

1

2MH250MH250

MH5LSMH5LS

MH80MH80

MH110MH110

MH280MH280

MH50 -20MH50 -2050kgR2061mm

1

2

10kgR2010mm

1

2

120kgR3058mm

1

2

35kgR2538mm

1

2

MH50 -35MH50 -35MH50MH50

＊2 : Loading and unloading for NC machine tools, die-casting, bending, injection molding presses, etc.

Structures, performance, and functions designed for optimum application help you downsize production facilities and save energy.

3

Energysavings:

Approx.25%

Robot operation control On standby until next command

Operating status

Motor outputs

Brake

Timer

Motor outputs are shut off and brakes applied while the Robot is on standby.

Brakes are applied at a �xed time intervals after the standby status starts.

〈Conditions〉Twenty-four-hour operation in which the Robot is operating for 16 hours and on standby for 8 hours

The Robot stops on the taught path at emergency stop and will not deviate from the path when restarting, preventing interference of the Robot with nearby obstacles.

The playback path mode during a test operation can be confirmed by a low speed test operation. This has mode the teaching operation with the optimum path in minimal time possible while verifying the existence of interference with workpieces or jigs.

No Deviation from Track at Emergency Stop

Short processing

Increased freedom in operation or compact and slim design have made the new robots more optimized for specific applications. High-density installation has contributed customers production line to saving space. The facility which enables integrated process, rapid production and saving space is called “short processing”.

・Slimmer design enables closer mounting.

・Smaller Controller saves space.

・ Multiple Robot Controller prevents robots from collisions.

・ Installation space reduced by safety function(restricting the range of Robot operation).

・ Shorter production lines.

・ Reduced number of processes.

・ Highly efficient production.

・ Better quality.

・ Saving energy.

Playback Path Confirmation

Software

No path errorseven at restart.

Operatingdirection

Emergencystop position

Teaching point 3

Teaching point 2

Teaching point 1

Teaching point 4

Teaching point 5

Playback path con�rmationat low speed

The servos are turned OFF automatically when the Robot is stopped for a long period of time. Reduced power consumption helps lower running costs.

New robotsolutions

Shortprocess

Customeradvantages

Minimized Area for Safety Fence Installation

Saving Energy

Optional

Virtual limitation area+Safety fenceSafety fence

Previous safety fence positionRobot motion area

Multiple limitation areas (　　　　 ) can be combined for monitoring, and it can shorten the time for setting.

A

A B C

B

B

C

Monitoring of the plain surface:Not to let the robot exceed the plain surface and the slanted ceiling.

C

Monitoring ofthe inside of area:Not to let therobot come outfrom an area.

Monitoring of the outside of area:Not to let the robot enter into an area.

A

B

Previously : A safety fence is requiredaround the robot motion area.

Safety Functions : Less space is necessary

Movements of the robot can be limited within an optimal range for the attached tool by monitoring positions of the robot and tool with the functional safety module equipped with two CPUs. With this function, the safety fence can be installed for an area that is smaller than the motion range of the robot, which reduces the required installation space for production equipment.

4

Operability of teaching and simulation have been improved to reduce time required for system startup.

MOTOMAN continually strives to improve monitoring, troubleshooting, and structures to reduce maintenance and recovery time from failures.

Program operation can be checked while monitoring I/O or variables on the programming pendant so that teaching andtrial operation efficiencywill increase.

When an alarm occurs, the detail, cause, and countermeasure of the error are displayed on the Programming Pendant to provide measures for troubleshooting.

The Simulator has evolved from merely simulating Robot operation to a Virtual Controller that reproduces the functions, operations, and displays of the actual Robot. Easy simulation is possible by anyone with an understanding of Robot operation.

We have reduced the time required to replace Controller parts to shorten recovery time when troubles do occur. (Required time for replacement: from 10 to 8 minutes: reduced by 20%)The encoder can be replaced with standard tools since it employs a unit style and thus the required time for replacement is reduced.An optional zeroing function can be used to accurately and quickly reset the home position after replacing the motor or encoder.

Multi-window Display Function

Troubleshooting

MotoSimEG-VRC Simulator

Reduced ReplacementTime for Parts

Error

Cause

Countermeasure

Total Solutions to Achieve Short Processing

Operation

Maintenance

Easy

Quick

Simulation

Troubleshooting

Optional

5

Tapped holes M5 (4 holes)(Depth: 9) (Pitch: 0.8)

45°

5 (�tting depth)

Air inletTapped holes PT1/4(with pipe plug)

Connector for internal userI/O wiring harness: HR10A-10R-10P (73)Matching connector:HR10A-10P-10S*HIROSE*(provided by users)

+0.01205 dia.(1 hole)

(Depth: 7)

+0.01206 dia.(2 holes)

+ 0.0

180

12

d

ia.

12 dia. (4 holes)(mounting holes)

+0.018012 dia.

(1 hole)

109 109

R235

R706




87

298

423

40 25

110

170°

170°

5570

105 100±0.05

92± 0

.192

± 0.1

66±0.160±0.1

85± 0

.1

160

138 10

0±0.

0519

4

740

60

P-Point

S

L

U

R

B

T

255°

37°

233

0 15 235

706

277

501

114

88 80305

156

0

246

239

474

688

947

B

A

C

0

203

24351

136°

65°

150 °

310

330

40

178

31.5 dia.

160194

MOTOMAN-XX1235 kg payload, R706 mm maximum reach

Dimensions Units : mm : P-point Maximum Envelope

View C

Manipulator Speci�cations

Note : SI units are used for specifications.

View B

View A

*1 : Conforms to ISO 9283.

*2 : Varies in accordance with applications and motion patterns.

*3 : Also compatible with FS100 controller. For details, refer to the KAEP C940440 06 catalog.

Allowable Moment

R -axis (wrist roll) 12 N·mB -axis (wrist pitch/yaw) 12 N·mT -axis (wrist twist) 7 N·m

Allowable Inertia(GD2/4)

R -axis (wrist roll) 0.30 kg·m2

B -axis (wrist pitch/yaw) 0.30 kg·m2

T -axis (wrist twist) 0.1 kg·m2

Approx. Mass 27 kg

Ambientconditions

Temperature 0˚C to +45˚CHumidity 20% to 80%RH (non-condensing)

Vibration 4.9 m/s2 or less

Others Free from corrosive gas or liquid, or explosive gas or liquid Free from exposure to water, oil, or dust Free from excessive electrical noise (plasma)

Power Requirements*2 1.0 kVA

Model MOTOMAN-MH5S *3

Type YR-MH0005S-J00Controlled Axis 6 (Vertically articulated)

Payload 5 kgRepeatability*1 ±0.02 mm

Range ofMotion

S -axis (turning) −170˚ − +170˚L -axis (lower arm) −65˚ − +150˚U -axis (upper arm) −136˚ − +255˚R -axis (wrist roll) −190˚ − +190˚B -axis (wrist pitch/yaw) −135˚ − +135˚T -axis (wrist twist) −360˚ − +360˚

MaximumSpeed

S -axis (turning) 6.56 rad/s, 376˚/sL -axis (lower arm) 6.11 rad/s, 350˚/sU -axis (upper arm) 6.98 rad/s, 400˚/sR -axis (wrist roll) 7.85 rad/s, 450˚/sB -axis (wrist pitch/yaw) 7.85 rad/s, 450˚/sT -axis (wrist twist) 12.57 rad/s, 720˚/s

MOTOMAN-MH5S5 kg payload, R706 mm maximum reach

6




View B

View C

MOTOMAN-MH5LS

Connector for internal userI/O wiring harness: HR10A-10R-10P (73)Matching connector:HR10A-10P-10S*HIROSE*(provided by users)

12 dia. (4 holes)(mounting holes)

138

105 100±0.05

92± 0

.192

± 0.1

66±0.160±0.1

85± 0

.1

100±

0.05

160194

160

194

109 109

Air inletTapped holes PT1/4(with pipe plug)

45°31.5 dia.

Detaildrawing

Install attachmentsto this range

40 d

ia.

0.5


5 (�tting depth)

R895

170°

2540

87

55

R267

110

70

398523

170°




88

330

400

40

80

830

60

L

405

65° 150°32°

138°

255°

A

B

C

0 14 288

317

209

B

S

T

RU

9681

400

267

0 895

341

132

98

503

1137

808

198

0

423

P-Point

+0.01205 dia.(1 hole)

(Depth: 7)

+ 0.0

180

12

d

ia.( D

epth

: 5)

+ 0.0

180

12

d

ia.

+0.01206 dia.(2 holes)

+0.018012 dia.

(1 hole)

View A

Model MOTOMAN-MH5LS *3

Type YR-MH005LS-J00Controlled Axis 6 (Vertically articulated)


Range ofMotion


MaximumSpeed


Allowable Moment






Approx. Mass 29 kg

Ambientconditions





5 kg payload, R895 mm maximum reach




7

60

102± 0

.115

313

2±0.1

60260240 132±0.1

300

260

292

300

100±0.1 102±0.1153±0.1

130±

0.1

18 dia. (4 holes)

22.5°

128

128

100

dia

.

5

4

100

dia

.


56 dia.50 d

ia.

Connector for internal userI/O wiring harness:JL05-2A20-29PC (with cap)Matching connector:JL05-6A20-29S (provided by users)

Air inlet PT3/8with pipe plug (A)

199 94.5

198.5

450

614

200

100 155 640 100

84

705

777

2511

0

410

144020

6

1129 0

1734

299

361

90°

175°

155°

85°

848

606

240°

B

T

RU

L

S

P-point

A

B

C

45 475

R410

R1440

2613

170°

170°13

0

60


+0.01204 dia.(1 hole)

(Depth: 6)

0 -0.0

1962

dia

.( D

epth

: 5)

0 -0.0

1962

dia

.

Detaildrawing


+0.018016 dia.

(2 holes)+0.018

012 dia.(1 hole)

Tapped holes M6(2 holes)(Depth: 12)(Pitch: 1.0)




View C

View A




Model MOTOMAN-MH12*3

Type YR-MA1440/MH12-A00Controlled Axis 6 (Vertically articulated)


Range ofMotion


MaximumSpeed


Allowable Moment

R -axis (wrist roll) 22 N·mB -axis (wrist pitch/yaw) 22 N·mT -axis (wrist twist) 9.8 N·m





Approx. Mass 130 kg

Ambientconditions





MOTOMAN-MH12

View B


8



22.5°

128

128

4

5



Detaildrawing

56 dia.

50 di

a.

100

dia.

100

dia.


Air inlet PT3/8with pipe plug

60316

± 0.1

200

260 ±0.1

170

± 0.1

375

335

200

60

±0.1

292

375335

18 dia.(4 holes)

180°

180°

182

630

7016813

0

100

1545

2613

R316

R173085

.596

.5

R406




L

R

505

760

480

311

1074

200

150114

795 100

240°

105° 155°

170°

1004

1730

519

0

343

761

2085

0

0

1430

1024 80

887

6

694

277

348

406

120

84

100

S

U B

102

281

281

T

A

CB

P-Point

+0.01204 dia.(1 hole)

(Depth: 6)

0 -0.019

62

dia.

0 -0.0

1962

dia

.( 1

hol

e)( D

epth

: 5)

+0.018012 dia.

(2 holes)C5

Mount objectsto this range

139

229266495

50405

135

View C

View A




MOTOMAN-MH24

View B


Model MOTOMAN-MH24Type YR-MH00024-A00Controlled Axis 6 (Vertically articulated)


Range ofMotion


MaximumSpeed


Allowable Moment

R -axis (wrist roll) 50.0 N·mB -axis (wrist pitch/yaw) 50.0 N·mT -axis (wrist twist) 30.4 N·m





Approx. Mass 268 kg

Ambientconditions





9

9585

R2010917

70168

100

1545

2613

130

70165

R561

180

R316

180°

180°5

4

22.5°

170±

0.1

260±0.1

375

335

200±0.1

60

375

335

31660

56 dia.

62

d

ia.

（1

hole）

（D

epth

: 5）

Install attachments tothis range

Tapped holes M4 （8 holes）（Depth: 8）（Pitch: 0.7）

50 di

a.

100 d

ia.

100

dia

.

Detail drawing

Position of the internal connector main key

Connector for internal user I/O wiring harness:JL05-2A20-29PC （with cap）Matching connector: JL05-6A20-29S（provided by users）

Air inlet PT3/8with pipe plug （A）




18 dia.（4 holes）

+0.01204 dia.(1 hole)

(Depth: 6)

+0.018012 dia.

(2 holes)C5

200±

0.1

292

0 -0.019

62

dia.

0 -0.0

19

139

50

405

266 229

135

495

P点

1710

559 56

1

2010

0

1284

568

0

199

850

2365

374

425

1041

170°

3649

155°

105°

505

760

200

100

281

84

114150

8814

1001082

86°

1287

951

1309

729

0

87.5°

476

580538

839

792

250°

1256

T

ABRU

CB S

L

Mount objectsto this range

P-Point



View C



Allowable Moment

R -axis (wrist roll) 22 N·mB -axis (wrist pitch/yaw) 22 N·mT -axis (wrist twist) 9.8 N·m





Approx. Mass 280 kg

Ambientconditions





Model MOTOMAN-MH24-10Type YR-MH00024-A10Controlled Axis 6 (Vertically articulated)


Range ofMotion


MaximumSpeed


View B

View A


MOTOMAN-MH24-1010 kg payload, R2010mm maximum reach

10



4042

400230

280

455

385

320

195±

0.1

153230±0.1195±0.1455

608

195±

0.1

230±

0.1

195±0.1

80 dia.Tapped holes M8 (6 holes)(Depth: 14) (Pitch: 1.25)

22 dia. (8 holes)

611.5 200R37

7R543

5050R2061


180˚

180˚

+0.018012 dia.

(2 holes)

6

8

32

32

Cover for �eldbus cable(I.D12 dia. ) (in base)



343 253

234 234

Connector for internal userI/O wiring harness:JL05-2A24-28SC (with cap)Matching connector:JL05-6A24-28P(provided by users)

Air exhaust PT3/8with pipe plug

57

105 1050118

1369

453

3578

3832

145 1751025

187

540

870

210

1807

0

543

53087213

605

1056

1771 24

8

2061

170˚

0

437

925

2456

460

1121

90˚

135˚

120˚

55˚

S

C

B

L

A

Tube for fieldbus cable (I.D12 dia. ) (in base)

B

T

RU


P-point


+ 0.0

250

50

d

ia.

0 -0.0

2210

0

d

ia.

+0.01206 dia.(1 hole)

(Depth: 10)

+0.01508 dia.(1 hole)

(Depth: 14)

View C

View B

View A

Model MOTOMAN-MH50Type YR-MH00050-J00Controlled Axis 6 (Vertically articulated)


Range ofMotion


MaximumSpeed


Allowable Moment



R -axis (wrist roll) 28 kg·m2

B -axis (wrist pitch/yaw) 28 kg·m2

T -axis (wrist twist) 11 kg·m2

Approx. Mass 550 kg

Ambientconditions








MOTOMAN-MH5050 kg payload, R2061mm maximum reach

11



195±

0.1

234 234

349 253

608

153 455

230

280

455



195±

0.1

230±

0.1

195±0.1

195±0.1 230±0.1

22 dia.(8 holes)

320

385

400

+0.018012 dia.

(2 holes)

60.5

6

45˚

40 dia.


AIR

1BC

2BC

32

32



Cover for fieldbus cable(I.D12 dia.) (in base)


4022

3.5

105105

10˚

65˚

25˚

206˚

71˚

90˚

45˚

135˚

160˚

100

200

1150

540

1990

55

1051800145

3501

1050

2070

208

0

5585

414

12271077

3106

2084

923

733

358036

5922

665

1065

1402

2816

1396

L

A

B

C

S

Tube for �eldbus cable (I.D12 dia.) (in base)Tube for �eldbus cable (I.D12 dia.) (in base)

B

T

RU

P-point


R377

R923

400661.5

30

80

12028.5

R3106

180˚

180˚

Tube for �eldbus cable(I.D12 dia.)(in protective tubing)



0 -0.0

3950

dia

.

+ 0.0

210

25

d

ia.

+0.01206 dia.

(1 hole)(Depth: 6)

View C



Allowable Moment

R -axis (wrist roll) 39.2 N·mB -axis (wrist pitch/yaw) 39.2 N·mT -axis (wrist twist) 19.6 N·m





Approx. Mass 495 kg

Ambientconditions





Model MOTOMAN-MH50 -20Type YR-MH00050-J10Controlled Axis 6 (Vertically articulated)


Range ofMotion


MaximumSpeed


20 kg payload, R3106mm maximum reach

View B

View A

MOTOMAN-MH50 -20


12



A

B

C


2248 165 428

160°

1516

889

2538

229

0

4448

1549

960

P-point

2933135°

45°

540

1150

210

187

1225 175145

253343

234234

10°

121279 513 565

65°

80°

2087

57

L

U R B T Connector for internal userI/O wiring harness:JL05-2A24-28PC (with cap)Matching connector:JL05-6A24-28S (provided by users)



105 105

223.

5400

1549

126

625

120°

90°

109°

8691436



32

32


8

80 dia.

4240

Tapped holes M8 (6 holes)(Depth: 14)(Pitch: 1.25)

T-axis alignment mark

6

Cover for �eldbus cable(I.D12 dia. )(in base)

ϕTube for �eldbus cable(I.D12 dia. )(in base)

SS

+ 0.0

250

50

d

ia.

0 -0.0

2210

0

d

ia.

+0.01206 dia.(1 hole)

(Depth: 10)

+0.01508 dia.

(1 hole)(Depth: 14)

+0.018012 dia.

(2 hole)



Tube for �eldbus cable(I.D12 dia. )(in base)

230400

195±0.1 230±0.1

195±0.1

195±

0.132

0

385

230±

0.1

195±

0.1

455

608455153

280

22 dia.(8 holes)

R2538

50 50

200811.5

R56

5Tube for �eldbuscable (I.D12 dia. )(in protective tubing)

180˚

180˚

50


View C



View B

View A

Allowable Moment






Approx. Mass 570 kg

Ambientconditions





Model MOTOMAN-MH50 -35Type YR-MH00050-J20Controlled Axis 6 (Vertically articulated)


Range ofMotion

S -axis (turning)−180˚ − +180˚

(−30˚ − +30˚ when mounted on the wall)

L -axis (lower arm) −90˚ − +135˚U -axis (upper arm) −160˚ − +251˚R -axis (wrist roll) −360˚ − +360˚B -axis (wrist pitch/yaw) −125˚ − +125˚T -axis (wrist twist) −360˚ − +360˚

MaximumSpeed



MOTOMAN-MH50 -35


13

230

320

385

455

608

455153

280

195±0.1

195±0.1195±

0.1

195±

0.1

230±

0.1

230±0.1

22 dia.(8 holes)

400


Cover for fieldbus cable(I.D12 dia. )(in base)

32

32



265

234234

199

343




210

870

540

187

1807

87213

605

1056

1771 24

8

530

543

2061

3832

0

145 1025 175

437

925

2456

460

1121

3578

0118

1369

453

0105 105

57

L

B

C

S

A

135˚

90˚

120˚

170˚

55˚

B

T

RU

P-point


R543

R2061

50 50

200611.5R37

7

180˚

180˚Tube for �eldbus cable (I.D12 dia. )(in protective tubing)


+ 0.0

250

50

d

ia.

0 -0.0

2210

0

d

ia.

+0.01206 dia.(1 hole)

(Depth: 10)

+0.018012 dia.

(2 holes)

+0.01508 dia.

(1 hole)(Depth: 14)

Tube for fieldbus cable(I.D12 dia. )(in base)Tube for fieldbus cable(I.D12 dia. )(in base)

8

80 dia.

4240 T-axis

alignment mark

6



View C

View B

View A

Allowable Moment






Approx. Mass 555 kg

Ambientconditions







Range ofMotion


MaximumSpeed



MOTOMAN-MH80


*2 : Varies in accordance with applications and motion patterns.Note : SI units are used for specifications.

14

45°

B

200320 1020

385

22dia.(8 holes)

S

T

6092

16

246

4512

.5

27.5

185°

160°

195±

0.1

R2236

90°

155°

10098.5

280

153 455

608

455

230±

0.1

320

195±

0.1

195±0.1

230±0.1195±0.1

230

235

870

540

L

RU

400

Tapped holes M8 (4 holes)(Depth: 16)



Tapped holes M 6(2 holes)(Depth: 11)

R491

966

394

1016

0

0

37731536

1482 34

9

414

543

740

2236

3751

2456

949

185

1295

0

Air 4KQE12-04

27

27

Key Position

Air 1KQE12-04

Air 3KQE12-04

Air 2KQE12-04

Air (5)KQE12-03

Connector for DeviceNet:CM02-8DR5P-CFMatching connector: CM02A-8DP5S-D (provided by users)

Connector for +24V:CM03A-R4P-S-1Matching connector: CM03-P4S (provided by users)

Internal user wiring connector:JL05-2A24-28PC (with cap)Matching connector: JL05-6A24-28S (provided by users)

Cover for fieldbus cable(I.D12 dia. )(in base)Tapped holes M3 (4 holes)(Depth: 3.2)

C

B

A

Tapped holes M10(10 holes)(Depth: 15)

16

7

125 dia.

P-Point

For the external axis (power cable):JL05-2A18-1SC-F0 (with cap)Matching connector:JL05-6A18-1P(provided by users)

Air 1KQE12-03

Air 2KQE12-03

Connector for internal user I/O wiring harness(casing side):JL05-2A24-28SC (with cap)Matching connector:JL05-6A24-28P (provided by users)

Air (5)KQE12-03

Air 3KQE12-03

Connector for DeviceNet:8R5L30Matching connector:8A5006-32DN (provided by users)

Key position

Air 4KQE12-03

257

256

546

289

Connector for theexternal axis (power cable):JL05-2A2０-29SC(with cap)Matching connector:JL05-6A20-29P (provided by users)

Connector for +24V: 1R4030Matching connector: CM03-J4P (provided by users)

+ 0.0

250

31.5

dia

.

0 -0.0

2514

5

d

ia.

+0.015010 dia.(2 holes)

(Depth: 15)

+0.018012 dia.(2 holes)



View C

View B

View A

Allowable Moment






Approx. Mass 625 kg

Ambientconditions





Model MOTOMAN-MH110Type YR-MS100/MH110-A00Controlled Axis 6 (Vertically articulated)


Range ofMotion


MaximumSpeed



MOTOMAN-MH110



15



Connector for internal userI/O wiring harness (base side):JL05-2A24-28PC (with cap)Matching connector: JL05-6A24-28S(provided by users)

Air inlet Rc3/8with pipe plug

R2702

R713

27.5 12

.545

120

344 9216 60

Tapped holes M8 (4 holes)(Depth: 14) Tapped holes M5 (2 holes)(Depth: 9)



R515

255 40



8

8

30°

125 dia.

92 dia.

320

420

500

290450

295±0.1

250±

0.1

185±

0.1

185±

0.1

420500

344

276 349

220

230±0.1 230±0.1

（275）

22 dia. (8 holes)

1225 225

650

300

2702

R2411

60°

76°

19°

4°

147°

90°

970

3061

928

332

598

957

577

144156

20

762

713

709

407

90

2450

0

153

B

C

A

S

L


325

1150

2253

B

T

RU

Tube for �eldbus cable (I.D12 dia. )(on S-head)

P-point

+ 0.0

300

63

d

ia.

+0.015010 dia.

(2 holes)(Depth: 8)

+0.021020 dia.

(2 holes)

+0.01509 dia.

(2 holes)(Depth: 8)

0 -0.0

2516

0

d

ia.

View C

View B

Allowable Moment






Approx. Mass 970 kg

Ambientconditions







Range ofMotion


MaximumSpeed



View A

MOTOMAN-MH180



16



1BC

(275) 344

276 349

220

125 dia.

92 dia.

8

8

266

30°

22 dia.(8 holes)

Connector for internal user I/O wiring harness:JL05-2A24-28PC (with cap)Matching connector: JL05-6A24-28S(provided by users)

Tapped holes M10(6 holes)(Depth: 14)Tapped holes M10(6 holes)(Depth: 14)


735

3416

689

2815

142°

1440

372

889

908

234

928797

287

320

420

500

290450

420500

27.5

12.5

45

120

255 40

344 9216 60

1590

300

3058

60°

76°

4°

90°

1150

970

2253

153

225

R3058

R90824°

R51

5

R2766

325325

650

82

230±0.1295±0.1

250±

0.1

185±

0.118

5±0.1

230±0.1

B

C

A

S

L

B

T

RU

P-Point


Tapped holes M8(4 holes) (Depth: 14)


Tapped holes M5(2 holes) (Depth: 9)Tapped holes M6(2 holes) (Depth: 11)

Tube for �eldbus cable (I.D12 dia. )(on S-head)

+ 0.0

300

63

d

ia.

+0.015010 dia.

(2 holes)(Depth: 8)+0.015

09 dia.(2 holes)(Depth: 8)

0 -0.0

2516

0

d

ia.

+0.021020 dia.

(2 holes)

View C

View B

View A

Allowable Moment






Approx. Mass 1010 kg

Ambientconditions





Model MOTOMAN-MH180-120Type YR-MS165/MH180-A10Controlled Axis 6 (Vertically articulated)


Range ofMotion

S -axis (turning) −180˚ − +180˚L -axis (lower arm) −60˚ − + 76˚U -axis (upper arm) −142˚ − + 90˚R -axis (wrist roll) −360˚ − +360˚B -axis (wrist pitch/yaw) −130˚ − +130˚T -axis (wrist twist) −360˚ − +360˚

MaximumSpeed




MOTOMAN-MH180-120120 kg payload, R3058 mm maximum reach

17

B

T

RU



8

8


Air inlet Rc3/8with pipe plug (B)

Air inlet Rc3/8with pipe plug (A)

540

640

735

640

22 dia.(8 holes)

290±0.1 290±0.1353±0.1

290± 0.

1290

± 0.13

50±0.1

290±0.1 290±0.1

893

540

375491

（886）

R2912

R899

R608





45

120

133

27.5

12.541

073

92

16

255

180˚

180˚

344

60

40

A

B

C

1490285

513329122221

250

L

S

0

12.2˚

12.2˚

12.2

˚

75

1225

509

583

1770236

650

1008

3311

77

40

650

1477

1141 37

1

739

784

899

14010

250

1150

153

2203

585

18˚

60˚

42˚

50˚25˚

Tapped holesM12(4 holes)(Depth: 24)

91

142.5˚

137.5

12.2˚

76˚

P-Point

92 dia.

125 dia.

+ 0.0

300

63

dia

.

+0.021020 dia.

(2 holes)

+0.018016 dia.

(2 holes)

+0.015010 dia.

(2 holes)(Depth: 8)

+0.01509 dia.

(2 holes)(Depth: 8)

0 -0.0

2518

0 d

ia.



View C

View B

View A

MOTOMAN-MH215






Range ofMotion

S -axis (turning) −180˚ − +180˚L -axis (lower arm) −60˚ − +76˚U -axis (upper arm) −142.5˚ − +230˚R -axis (wrist roll) −360˚ − +360˚B -axis (wrist pitch/yaw) −125˚ − +125˚T -axis (wrist twist) −360˚ − +360˚

MaximumSpeed


Allowable Moment







Ambientconditions






18



P-point

R2702

R713

27.5 12

.545

120 Tapped holes M10

(6 holes)(Depth: 14)


344 9216 60





(275) 344

276 349

125 dia.

92 dia.

9

10

220

R515

30°

255 40

22 dia. (8 holes)Tube for �eldbus cable

(I.D12 dia. )(on S-head)

Tube for �eldbus cable (I.D12 dia.) (in base)

S

325 1225

250

650

300

2702

L R2411

60°

76°

19°

4°

147°

90°

1150

970 3061

928

332

598

957

577

1441

562

762

713

709

2253

407

9

2450

153

230±0.1230±0.1

185±

0.1 18

5±0.1

295±0.1

25±

0.10

320

420

500

290450

420500

A

B

C

B

T

RU

+0.015010 dia.

(2 holes)(Depth: 8)

+0.01509 dia.

(2 holes)(Depth: 8)

+ 0.0

300

63

d

ia.

0 -0.0

2518

0

d

ia.

+0.021020 dia.

(2 holes)



View C

View B

View A


MOTOMAN-MH225

Allowable Moment







Ambientconditions







Range ofMotion


MaximumSpeed




19


Air inlet Rc3/8with pipe plug (A)

Air inlet Rc3/8with pipe plug (B)

540

640

735

640290±0.1 290±0.1

290±0.1290±0.1353±0.1

22 dia.(8 holes)

290± 0

.129

0± 0.1

350±

0.1

893

8

8

92

60

27.5

4545133

6012

0 16



R80

4R

804

R2710



12.5

R608R608

73

40

410

27.5

180˚

180˚


Tapped holes M10(6 holes)(Depth: 12)92 dia.125 dia.

801

375

L

S

491

3109

142.

5˚

440597

1070

0

381

52

271020204730

2501285

91

18˚18˚12.2˚

12.2˚

76˚

285

25˚

42˚

153

250

50˚

75137.5137.5

650

855

855

1150 12

.2˚

60˚

140180

4

589

534

7590

989

40

2203

80

647

1225

0

1345

375441

A

C

B


344344

540

255255

B

T

RU

P-Point

+0.01509 dia.

(2 holes)(Depth: 8)

+0.015010 dia.

(2 holes)(Depth: 8)+ 0

.030

063

d

ia.

0 -0.0

2518

0 d

ia.

+0.021020 dia.

(2 holes)

+0.018016 dia.

(2 holes)



View C

View B

View A

MOTOMAN-MH250






Range ofMotion


MaximumSpeed


Allowable Moment







Ambientconditions






20



92 dia.

8

8

125 dia.

Connector for internal userI/O wiring harness(casing side):JL05-2A24-28SC (with cap)Matching connector: JL05-6A24-28P(provided by users)

491

R847

7341

0 R608

R2446

350±

0 .1

290±

0 .1

290±0.1 290±0.1

290±

0 .1

640893

540

290±0.1290±0.1

22 dia. (8 holes)

640

735

540

353±0.1





120

40255

34416 60

9213

3

12.527

.545

340491



Air inlet PT3/8with pipe plug (B)

S1

2BC

1BC

AIR-A

FB

AIR-B

Tube for �eldbus cable(I.D12 dia.) (in base)

744

748

4202

112

2845

709

455

861

1153

0117

140178

784

6

332

0788

1172

40

76°60°

18°25°

153

2203

650

1150

250

24461756

250285 1015

287

828

1225

0

142.5°

50°

42°

75137.5

855

B

L

S

A

C

B

Tube for �eldbus cable (I.D12 dia.) (in protective tubing)

T

RU

P-pointP-point

Tappedholes M12(4 holes)(Depth: 24)

Tube for �eldbus cable (I.D12 dia.)(in base)

+ 0.0

300

63

d

ia.

0 -0.0

2518

0

d

ia.

+0.015010 dia.

(2 holes)(Depth: 8)

+0.01509 dia.

(2 holes)(Depth: 8)

+0.021020 dia.

(2 holes)

+0.018016 dia.

(2 holes)



View A

View B

View C

Allowable Moment







Ambientconditions







Range ofMotion


MaximumSpeed



MOTOMAN-MH280



21

290±0.1 290±0.1

290±0.1 290±0.1

290±

0.1

609 680

222


22 dia. (8 holes)

550

540

5050

54050 50786

250 dia.

15°9



290±

0.129

0±0.1

A

B

C

180°

0 796 11641318

2942

0

1409

1498

22362401

1371

215

1849 25659890

2683

922

900

14

R2942R821

R1371

445143.5

16.5

100

70

900

1050

250

260

550 400

55°

61°

3001605500

60822 100

113°

49°

18°

R1030

43°

113°R1420

202

(1674)

180°

L

S

T

U BR




P-point

Tube for�eldbus cable (I.D12 dia.)(in base)

A A

Cover for �eldbus cable(I.D12 dia.) (in base)

Tapped holes M4(4 holes) (Depth: 3)(Pitch: 0.7)

AA

3BC2BC

1BCAIR

S1FB

32

32

+ 0.04

00

160

d

ia.

0 -0.0

8131

5

d

ia.

+0.018012 dia.

(1 hole)(Depth:15)

+0.018016 dia.

(2 holes)

+0.021020 dia.

(2 holes)



View A

View B

View C

Allowable Moment







Ambientconditions







Range ofMotion


MaximumSpeed



MOTOMAN-MH400



22



150˚

150˚

R3518

R1847

676 811

1495

.5

70

60

100

100

423

16.5

143.

5

965 .

5




Tapped holes M8 (1 hole)(Depth: 15)

435±0.1410±0.2

410±0.2

435±

0.1

350±

0.2

28 dia. (12 holes)

350±

0.2

5

640

760

860

640

760935


14 dia. (8 holes)

225 dia.200 dia.

A



Air inlet PT3/8with pipe plug (B)

3BC2BC

1BC

S1

AIR A AIR B

A B

FB


Cover for�eldbus cable(I.D12 dia.)(in base)

3232

60˚

30˚

60˚

15˚15˚

18

60˚

30˚

30˚

60˚4

T

B

R

U

LS

30˚

73˚

725

67˚

99˚

20˚

21˚

101˚

94

140

255

213510

0050

0

250

122˚

280

21˚

1100 260

32173384

1933

8481000

0195

1148

1524

3518

1847

1553

2004

1293

122774

30

1421

C

B

P-pointTube for �eldbus cable(I.D12 dia.) (in base)

+ 0.0

630

160

dia.

+0.018012 dia.

0 -0.0

7225

0

d

ia.

+0.018012 dia.

(1 hole)(Depth: 20)

+0.018016 dia.

(2 holes)

View C

View B

View A


MOTOMAN-UP400RD

Model MOTOMAN-UP400RDType YR-UP400RD-J00Controlled Axis 6 (Vertically articulated)


Range ofMotion


MaximumSpeed


Allowable Moment







Ambientconditions







23

B

L




Tube for �eldbus cable (I.D12 dia.)(in base)

P-point

696 767

222





250 dia.

22 dia. (8 holes)

180°

R2942

R1371

445

143.5

16.510

0

70

180°

60

822 100

R892

R105

4

550

540

280

5050

54050 50786

A A

15°8

290±0.1290±0.1

290±

0.129

0±0.1

290±0.1290±0.1

S1FB

32

32

Cover for �eldbus cable(I.D12 dia.) (in base)

0

796

1164

1318

2942

0

1409

1498

22362401

1371

215

1849

2565

989

0

2683

922

900

900

1050

250

260

550 400

55°

61°

3001605500

113°

14

49°18°

43°

113°R1420

202

(1674)

A

B

C

R

T

U

S

+ 0.04

00

160

d

ia.

0 -0.0

8131

5

d

ia.

+0.018012 dia.

(1 hole)(Depth:15)

+0.021020 dia.

(2 holes)+0.018

016 dia.(2 holes)



View C

View B

View A

Allowable Moment







Ambientconditions





Model MOTOMAN-MH600Type YR-MH00600-A00Controlled Axis 6 (Vertically articulated)


Range ofMotion


MaximumSpeed



MOTOMAN-MH600



MOTOMAN-MH, UP Series

Programming Pendant Speci�cationsItems

DimensionsMassMaterial

OperationDevice

Display

IEC Protection Class

Cable Length

169 (W)×50 (D)×314.5 (H) ｍｍ0.990 kgReinforced plasticsSelect keys, axis keys, numerical/application keys, mode selector switch with keys (mode : teach, play, and remote), emergency stop button, enable switch, compact �ash card interface device (compact �ash is optional), USB port (1 port)5.7-inch color LCD, touch panel 640×480 pixels(Alphanumeric characters, Chinese characters, Japanese letters, Others)IP65Standard : 8 m,Max. : 36 m (with optional extension cable)

Speci�cations

Robot Controller DX200 Speci�cationsItems

Con�guration

Dimensions, Mass

Cooling SystemAmbientTemperatureRelative Humidity

Power Supply

Grounding

Digital I/Os

Positioning SystemProgrammingCapacityExpansion SlotsLAN (Connection to Host)InterfaceControl Method

Drive Units

Painting Color

Dust proof IP54

MH5S , MH5LS , MH12, MH24, MH24-10, MH50 ,MH50 -20, MH50 -35, MH80 , MH110, MH180，MH180-120, MH215 , MH225, MH250 , MH280 : 600 (W)×520 (D)×730 (H) mm*(Possible to control two external axes) , 100 kg

MH400 , UP400RD , MH600：600 (W)×640 (D)×730 (H) mm*(Possible to control two external axes) , 110 kg

Indirect coolingDuring operation : 0˚C to +45˚CDuring storage : −10˚C to +60˚C90% max. (non-condensing)Three-phase 200 VAC (+10%, －15%), 50/60 Hz (±2%)Three-phase 220 VAC (+10%, －15%), 60 Hz (±2%) Grounding resistance : 100 or lessSpecialized signals ：28 inputs and 7 outputsGeneral signals ： 40 inputs and 40 outputsMax. I/O (optional) : 4096 inputs and 4096 outputsSerial communications (absolute encoder)JOB : 200,000 steps, 10,000 instructionsCIO ladder : 20,000 stepsPCI : 2 slots

1 (10BASE-T/100BASE-TX)

RS-232C : 1chSoftware servo controlSERVOPACK for AC servomotors(can control up to 9 axes)Front panel :Light gray (Munsell notation N7.7 or equivalent)Body except front panel : Dark gray (Munsell notation N3 or equivalent)

* : Dimensions of the controller only. Does not include any attachments.

Speci�cations

Sales Department

HEAD OFFICE2-1 Kurosaki-Shiroishi, Yahatanishi-ku, Kitakyushu, Fukuoka 806-0004, JapanPhone: +81-93-645-7703 Fax: +81-93-645-7802

YASKAWA America, Inc. (Motoman Robotics Division)100 Automation Way, Miamisburg, OH 45342, U.S.A.Phone: +1-937-847-6200 Fax: +1-937-847-6277

YASKAWA Europe GmbH (Robotics Division)Yaskawastrasse 1, 85391, Allershausen, GermanyPhone: +49-8166-90-100 Fax: +49-8166-90-103

YASKAWA Nordic ABVerkstadsgatan 2, Box 504 ,SE-385 25 Torsas, SwedenPhone: +46-480-417-800 Fax: +46-486-414-10

YASKAWA Electric (China) Co., Ltd.22F, One Corporate Avenue, No.222 Hubin Road, Huangpu District, Shanghai 200021, ChinaPhone: +86-21-5385-2200 Fax: +86-21-5385-3299

YASKAWA SHOUGANG ROBOT CO., LTD.No.7 Yongchang North Road, Beijing E&T Development Area China 100176Phone: +86-10-6788-2858 Fax: +86-10-6788-2878

YASKAWA India Private Ltd. (Robotics Division)#426, Udyog Vihar Phase-IV, Gurgaon, Haryana, IndiaPhone: +91-124-475-8500 Fax: +91-124-475-8542

YASKAWA Electric Korea Corporation35F, Three IFC, 10 Gukjegeumyung-ro, Yeongdeungpo-gu, Seoul, Korea 07326Phone: +82-2-784-7844 Fax: +82-2-784-8495

YASKAWA Electric Taiwan Corporation12F, No.207, Sec. 3, Beishin Rd., Shindian District, New Taipei City 23143, TaiwanPhone: +886-2-8913-1333 Fax: +886-2-8913-1513

YASKAWA Electric (Singapore) PTE Ltd151 Lorong Chuan, #04-02A New Tech Park, Singapore 556741Phone: +65-6282-3003 Fax: +65-6289-3003

YASKAWA Electric (Thailand) Co., Ltd.59, 1st-5th Floor, Flourish Building, Soi Ratchadapisek 18,Ratchadapisek Road, Huaykwang, Bangkok 10310, ThailandPhone: +66-2-017-0099 Fax: +66-2-017-0199

PT. YASKAWA Electric IndonesiaSecure Building-Gedung B Lantai Dasar & Lantai 1 Jl. Raya Protokol Halim Perdanakusuma, Jakarta 13610, IndonesiaPhone: +62-21-2982-6470 Fax: +62-21-2982-6471

Speci�cations are subject to change without notice for ongoing product modi�cations and improvements.

© 2009-2017 YASKAWA ELECTRIC CORPORATION

LITERATURE NO. KAEP C940440 22K <16>-0

16-8-43Published in Japan February 2017

In the event that the end user of this product is to be the military and said product is to be employed in any weapons systems or the manufacture thereof, the export will fall under the relevant regulations as stipulated in the Foreign Exchange and Foreign Trade Regulations. Therefore, be sure to follow all procedures and submit all relevant documentation according to any and all rules, regulations and laws that may apply.

Certi�ed forISO9001 andISO14001

JQA-EM0202JQA-0813R009QMS Accreditation

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