Multi-Purpose Robot MOTOMAN MH HP - Yaskawa India · Robot operation to a Virtual Controller that...

Certified for

ISO9001 and

ISO14001

JQA-EM0924JQA-0813R009

QMS Accreditation

MOTOMAN-MH, HP, and UPSeries

Multi-Purpose Robot

2

Best Performance in its class

Applicable in Severe Environments

The highest speed in the world has 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.

A slim design with a

control panel width of

only 425 mm reduces

the installation space

by up to 42%.*2 Up to

72 axes (8 robots)

can be controlled by

installing the additional

BOX.

Installation space

for the control

panel is reduced

by 42%.

Mass

100 kg max.

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

The Highest Potential in the World!

A complete lineup to help build optimum facilities.

SpaceSaveThe slimmer structure, new features, and high performance enable you to

downsize production facilities and save energy.

Hardware

Manipulator DX100 Controller

*1 : Available as an option for MH5S, MH5LS, MH6, and MH6S.

*2 : Compared to conventional large-sized controllers

Energy

5

0

10

15

20

100

200

300

400

500

1000 2000 3000 4000

50 kg

R2061 mm

165 kg

R2651 mm

250 kg

R2710 mm

20 kg

R3106 mm

500 kg

R2542 mm

350 kg

R2542 mm

20 kg

R1717mm

6 kg

R1422 mm

6 kg

R1915 mm

5 kg

R706 mm

5 kg

R895 mm

80 kg

R2061 mm

6 kg

R997 mm

215 kg

R2912 mm

400 kg

R3518 mm

1

2

1

2

1

2

1

2

1

2

1

2

1

2

1

2

1

2

1

2

1

2

1

2

1

2

1

2

1

2

Maximum reach (mm)

Handling of small to large workpieces, assembly, machine tending*3, arc welding,

spot welding, sealing and glue application, cutting workpieces, etcApplications

Payload

Maximum reach

1

2

Paylo

ad

(kg

)

Line-up of Multi-purpose Robot

*3 : Loading and unloading for NC machine tools, die-

casting, bending, injection molding presses, etc.

UP350D-500

UP350D

MH250

MH215

MH50-20

MH165

MH80

MH6MH6S

MH5LSMH5S

MH50

HP20D

HP20D-6

UP400RD

3

Safety Barrier

Minimizedsafety barrier

Previous safety barrier

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 fixed 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.

Interference between the arms of densely installed Robots can be constantly

monitored to automatically stop movement if a collision is likely to occur. (This

prevents collisions between Robots caused by programming mistakes.)

Constantly checks the interference between the robot arm and up to 16

defi ned cubes to prevent the robot to collide with workpieces or peripheral

jigs. (See the fi gure at right for reference.)

The functional safety unit, which is confi gured with the

redundant CPUs, minimizes the area within the safety

barrier by restricting the robot’s operating area.

Safety barrier can be limited to only a minimum area

to downsize production facilities.

Zone limit switches can be eliminated for Robots in

setting process.

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 specifi c 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 effi cient production.

・ Better quality.

・ Saving energy.

Interference Checking Function*4

Minimized Safety Barrier*5

Playback path confi rmation

*4 : Contact the Yaskawa sales department about manipulator models that support this function.

*5 : Contact the Yaskawa sales department about manipulator models that support this function.

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 confirmat low speed

Cube interference zone Cube interference zone

Optional

Optional

The servos are turned OFF automatically when the

Robot is stopped for a long period of time. Reduced

power consumption helps lower running costs.

Saving Energy

New robot

solutions

Short

process

Customer

advantages

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 and

trial operation effi ciency

will 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 (fitting 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)

12

dia

.+ 0.0

18

0

+0.01205 dia. (1 hole)

(Depth: 7)

+0.01206 dia. (2 holes)

+0.018012 dia.

(1 hole)

12 dia. (4 holes)(Mounting Holes)

109 109

R23

5

R706




87

298

423

40 25

11

0

170°

170°

5570

105 100±0.05

92± 0

.192± 0

.1

66±0.160±0.1

85± 0

.1

160

194

160

13

8 100±

0.05

19

4

74

0

60

P-Point

S

L

U

R

B

T

255° 3

7°

233

0 15

235

706

277

501

114

88 80305

156

0

246

239

474

688

947

B

A

C

0

20

32

4351

136°

65°

150 °

31

03

30

40

178

31.5ϕ

MOTOMAN-XX1235 kg payload, R706 mm maximum reach

Dimensions Units : mm : P-point Maximum Envelope

View C

Manipulator Specifi cations

Note : SI units are used for specifi cations.

View B

View A

*1 : Conforms to ISO 9283.

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

*3 : MOTOMAN-MH5F when using a FS100 controller.

*4 : YR-MH0005F-A00 when using a FS100 controller.

Allowable Moment

R -axis (wrist roll) 12 N·m

B -axis (wrist pitch/yaw) 12 N·m

T -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

Mass 27 kg

Ambientconditions

Temperature 0˚C to +45˚C

Humidity 20 to 80%RH (non-condensing)

Vibration 4.9 m/s2 or less

Others

Free from corrosive gasses or liquids, or explosive gasses

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-A00*4

Controlled Axis 6 (Vertically articulated)

Payload 5 kg

Repeatability*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˚/s

L -axis (lower arm) 6.11 rad/s, 350˚/s

U -axis (upper arm) 6.98 rad/s, 400˚/s

R -axis (wrist roll) 7.85 rad/s, 450˚/s

B -axis (wrist pitch/yaw) 7.85 rad/s, 450˚/s

T -axis (wrist twist) 12.57 rad/s, 720˚/s

DX100 FS100

MOTOMAN-MH5S5 kg payload, R706 mm maximum reach

6




DX100 FS100

View B

View C

MOTOMAN-MH5LS


45°

Connector for internal userI/O wiring harness: HR10A-10R-10P (73)

Matching connector:HR10A-10P-10S*HIROSE*(provided by users)

5 (fitting depth)

12

dia

.+ 0.0

18

0

+0.01206 dia. (2 holes)

+0.018012 dia.

(1 hole)

12 dia. (4 holes)(Mounting Holes)

R895

170°

25

40

87

55

R267

138

105 100±0.05

92± 0

.192± 0

.1

66±0.160±0.1

85± 0

.1

100±

0.05

160194

16

0

19

4

88

330

400

40

80

830

60

S

L

U

R B T

405

P-Point65° 150°

32°

138°

255°

A

B

C

0

14

288

317

209

11

0

109 109


Tapped holes M4 (2 holes)(Depth: 8) (Pitch: 0.7)70

398

523

170°

9681

400

267

0 895

341

132

98

503

1137

808

198

0

423

31.5ϕ

Air inletTapped holes PT1/4(with pipe plug)


+0.01205 dia. (1 hole)

(Depth: 7)

View A

Model MOTOMAN-MH5LS*3

Type YR-MH005LS-A00*4


Payload 5 kg


Range ofMotion

S -axis (turning) −170˚ − +170˚


U -axis (upper arm) −138˚ − +255˚




MaximumSpeed







Allowable Moment








Mass 29 kg

Ambientconditions




Others







*3 : MOTOMAN-MH5LF when using a FS100 controller.

*4 : YR-MH005LF-A00 when using a FS100 controller.

5 kg payload, R895 mm maximum reach

7

45˚

6

6

50 dia. 0−0.016

25 dia.+0.021

0

Tapped holes M6(4 holes) (Depth: 9)(Pitch: 1.0)

+0.01206 dia.

(1 hole) (Depth: 6)

18 dia. (4 holes)

12 dia.(1 hole)

+0.0180

16 dia.(2 holes)

+0.0180

175˚

83˚

90˚

155˚

250˚

614

155

95

640150

75

45

0

14

22

38

13

49

15

2

030

9

63

7

1122

1722

681

352

0

5

204

316

764

53

8 0

50

1

L

B

T

R

U

12

94

13

0

S

P-Point

R270

R1422

R381

170˚

170˚

A

B

C

199188

141

Connector for internal userI/O wiring harness:JL05-2A20-29PC (with cap)

Matching connector:JL05-6A20-29S (provided by users)

Welding power source’sterminal block (with cover)Cover type is TCV-2001-04

Air inlet PT3/8with pipe plug (B)

Air inlet PT3/8with pipe plug (A)

102±0.1153±0.1

15

3± 0

.1

13

0± 0

.1

100±0.1

30

0

29

2

26

0

10

2± 0

.11

32± 0

.1

60

132±0.1240

300

260

60

40ϕ




View C

View A



*3 : MOTOMAN-MH6F when using a FS100 controller.

*4 : YR-MH0006F-A00 when using a FS100 controller.

FS100DX100

Model MOTOMAN-MH6*3

Type YR-MH00006-A00*4


Payload 6 kg


Range ofMotion

S -axis (turning) −170˚ − +170˚


U -axis (upper arm) −175˚ − +250˚




MaximumSpeed







Allowable Moment

R -axis (wrist roll) 11.8 N·m

B -axis (wrist pitch/yaw) 9.8 N·m

T -axis (wrist twist) 5.9 N·m





Mass 130 kg

Ambientconditions




Others





MOTOMAN-MH6

View B


8

13

6

R285

R997

R453

165˚

95

130˚

S

T 658

450

300256

99

7

37

04

53

31

7

069

2

20˚

80˚

80

˚

133˚

15

54

50

488

0

30

5

3730

15

8

520150

1297

128

197

0

A

U

L

R

B

B

C

141

199

369

172197

6

6

P.C.D.40170˚

170˚

300

240

100±0.1 153±0.1

102±0.1

132±0.1260

60

26

0

292

300

102± 0

.11

53± 0

.1

60

132±

0.1

130± 0

.1

45˚

Connector for internal userI/O wiring harness:JL05-2A20-29SC (with cap)

Matching connector:JL05-6A20-29P (provided by users)

Air exhaust PT3/8with pipe plug

P-Point

0−0.01650 dia.

+0.021025 dia.

Tapped holes M6 (4 holes) (Depth: 9) (Pitch: 1.0)

6 dia. (1 hole)(Depth: 9)

+0.0120

Air inlet PT3/8with pipe plug

Connector for internal userI/O wiring harness: JL05-2A20-29PC (with cap)

Matching connector: JL05-6A20-29S (provided by users)

18 dia. (4 holes)

12 dia. (1 hole)+0.0180

16 dia.(2 holes)

+0.0180



DX100

View C

View A




MOTOMAN-MH6S

View B


Model MOTOMAN-MH6S

Type YR-MH0006S-A00


Payload 6 kg


Range ofMotion

S -axis (turning) −170˚ − +170˚


U -axis (upper arm) −130˚ − +165˚




MaximumSpeed







Allowable Moment








Mass 120 kg

Ambientconditions




Others





9

20

0±

0.1

260±0.117

0± 0

.1

25

0

37

5

33

5

200±0.1313

60

335

375

25 dia.+0.0210

50 dia. 0−0.039

12 dia. (2 holes)+0.0180

18 dia.(4 holes)L

B

TR

U

A

B

C

S

T-ax

is M

omen

t (N･ m

)

20

15

10

5

0 0.2 0.4 0.6 0.80.25 0.75

19.6

T-axis allowable moment of inertia GD2/4 (kg･m2)

Allowable moment of inertia for the T-axis

(Calculated from axial center of rotation on flange.)

180°

R42

1

R1717180°

R314

2072

81°

559

238

0

505

76

0

1485

0

26

0

47

1

80

7

991917

155°

165°

110°

524

0

334

505

768

1003

140

80

1323

1417

87.5

150 795

0514

635

459

288

349

413

807

17

17

P-Point

15

0

138.5

264 157

421

10

5

31

505

ϕ

6

0.5

6

40

45°


Connector for internal userI/O wiring harness: JL05-2A20-29PC (with cap)

Matching connector: JL05-6A20-29S (provided by users)

255°

Note : The P-point cannot reach the shaded area when the S-axis is between －40° and +30°.


+0.0120




View C

View B

View A

FS100DX100




*3 : MOTOMAN-HP20F when using a FS100 controller.

*4 : YR-HP0020F-A00 when using a FS100 controller.

*5 : For more information, refer to the line graph showing the allowable moment of inertia on this page.

*6 : The power requirement is 1.5 kVA when using a FS100 controller.

Model MOTOMAN-HP20D*3

Type YR-HP0020D-A00*4


Payload 20 kg


Range ofMotion

S -axis (turning) −180˚ − +180˚

L -axis (lower arm) −110˚ − +155˚

U -axis (upper arm) −165˚ − +255˚




MaximumSpeed







Allowable Moment







T -axis (wrist twist) 0.75 kg·m2 (only for downward movements)*5

Mass 268 kg

Ambientconditions




Others




Power Requirements*2 2.0 kVA*6

MOTOMAN-HP20D20 kg payload, R1717 mm maximum reach

10

25

dia

.+0

.02

10

50

dia

.0 − 0.0

39



+0.0120

18 dia. (4 holes)

12 dia. (2 holes)+0.0180

R

U

L

1915

752

45

660

14

85

505

760

89

6

47

10

10951189

155°

255°255°

110°

0

505

69

4

80

14

0

1521

1615

87.5150

65

4

51

0

25

4

0

995

P-Point 1201

105

2270

6

0.5 645°




157264

138.5

421

TB

850

43

2

162°

256

40

55

06

81°

23

8

B

A

81°

C

S

40ϕ

200±0.1

260±0.1

200±

0.1

25

0

33

5

37

560

335

375

313

170± 0

.1

R51

2

R314

180°

180°

R1915

15

0

View C

DX100





Note : 1 SI units are used for specifi cations.2 The B-axis is at the home position when it is moved downward into the

position where it is perpendicular to the fl oor at the level 0 shown in the drawing on this page.

Allowable Moment








Mass 273 kg

Ambientconditions




Others





Model MOTOMAN-HP20D-6

Type YR-HP0020D-A10


Payload 6 kg


Range ofMotion

S -axis (turning) −180˚ − +180˚

L -axis (lower arm) −110˚ − +155˚

U -axis (upper arm) −162˚ − +255˚




MaximumSpeed








View B

View A

MOTOMAN-HP20D-6

11

57

105 1050118

1369

453

3578

3832

145 1751025

18

75

40

87

0210

18

07

0

54

35

30

87

21

3

60

5

1056

1771

24

8

2061

170˚

0

437

925

2456

460

1121

90˚

135˚

120˚

55˚

343 253

234 234

6

6

40

42

400

230

28

0

45

5

38

5

32

0

19

5± 0

.1

153

230±0.1195±0.1

455

608

195±

0.1

23

0± 0

.1

195±0.1

B

UR

S

C

B

L

611.5 200

R377R543

50

50

R2061

180˚

180˚

A

T

P-Point




10 (STANDARD)8 (ZEROING)

+ 0.0

25

050

dia

.0 − 0.0

2210

0 di

a.


+0.0120

8 dia.(1 hole) (Depth: 14)

+0.0150






Matching connector:JL05-6A24-28P(provided by users)

22 dia.(8 holes)

12 dia. (2 holes)+0.0180

80ϕ

View C

DX100






View B

View A

Allowable Moment





R -axis (wrist roll) 28 kg·m2

B -axis (wrist pitch/yaw) 28 kg·m2

T -axis (wrist twist) 11 kg·m2

Mass 550 kg

Ambientconditions




Others





Model MOTOMAN-MH50

Type YR-MH00050-A00


Payload 50 kg


Range ofMotion

S -axis (turning) −180˚ − +180˚


U -axis (upper arm) −170˚ − +251˚




MaximumSpeed








MOTOMAN-MH50

12

View A

View B

View C

DX100






Allowable Moment








Mass 495 kg

Ambientconditions




Others





Model MOTOMAN-MH50-20

Type YR-MH00050-A10


Payload 20 kg


Range ofMotion

S -axis (turning) −180˚ − +180˚


U -axis (upper arm) −160˚ − +251˚




MaximumSpeed








MOTOMAN-MH50-20

R37

7

R923

400661.530

80

12028.5

R3106

180˚

180˚

40

22

3.5

105105

10˚

65˚

25˚

20

6˚

71˚

90˚

45˚

135˚

160˚

10

0200

11

50

54

0

19

90

55

1051800145

3501

1050

2070

208

0

5585

414

12271077

3106

2084

92

3

73

3

35

8036

5922

66

5

1065

1402

2816

1396

B

TRU

L

A

B

C

S

195± 0

.1

234 234

60.5

6

45˚

349 253

608

153 455

230

28

0

45

5

P.C.D.40

19

5± 0

.1230± 0

.1

195±0.1

195±0.1 230±0.1

32

0

38

5

400

P-Point





50

dia

.0 − 0

.039

25 d

ia.+ 0

.021

0

6 dia.(1 hole)(Depth: 6)

+0.0120


Matching connector:JL05-6A24-28P(provided by users)

Air Outlet PT3/8 Tappedwith plug




22 dia. (8 holes)

12 dia. (2 holes)+0.0180

13

230

320

38

5

45

5

608

455153

28

0

195±0.1

195±0.119

5± 0

.1

19

5± 0

.1

23

0± 0

.1

230±0.1

400

R543

R2061

50

50

200611.5R37

7

180˚

180˚

21

08

70

540

187

18

07

87

21

3

60

5

1056

1771

24

8

53

05

43

2061

3832

0

145 1025 175

437

925

2456

460

1121

35

78

0118

1369

453

0

105 105

57 B

T

R

U

L

B

C

S

A

135˚

90˚

120˚

170˚

55˚

42

40

6

6

10

265

234234

199

343

P-Point




100

dia

.0 − 0.0

22


+0.0150


+0.0120

50 di

a.+ 0.

025

0







22 dia.(8 holes)

12 dia.(2 holes)

+0.0180

80ϕ

View A

View B

View C

DX100






Allowable Moment








Mass 555 kg

Ambientconditions




Others





Model MOTOMAN-MH80

Type YR-MH00080-A00


Payload 80 kg


Range ofMotion

S -axis (turning) −180˚ − +180˚


U -axis (upper arm) −170˚ − +251˚




MaximumSpeed








MOTOMAN-MH80

14

451

331

20

92

16 60

R729

73

344 R2651

255 40

41

0

49

1

27

.512

.5R608

180˚

180˚

B

C

A

3050

495

348

1024

650

0

322

16

265119614612

2251225

82

9.2˚

285

15

32

50

50˚

42˚

85

5

75

65

01

15

0

72

97

27

58

27

01

52

440

94

5

22

03

126

687

0

13

07

142.

5˚

U

L

T

9.2˚

9.2

˚

60˚

0

25˚ 18˚

76˚

137.5

540

54

06

40

73

5

640

290±0.1 290±0.1353±0.1

290± 0

.129

0± 0.1

350±

0.1

290±0.1 290±0.1

893

P.C.D.92

P.C.D.125

8

8

294491

S

P-Point

Tapped holes M8(4 holes) (Depth: 15)




Tapped holesM12 (4 holes)(Depth: 24)



+ 0.0

30

063

dia

.0 − 0.0

25

160

dia

.

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

+0.0150

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

+0.0150



Air (A) inlet PT3/8with pipe plug

Air (B) inlet PT3/8with pipe plug

22 dia. (8 holes) 16 dia.(2 holes)

+0.0180

20 dia.(2 holes)

+0.0210

RB

View C

DX100






View B

Allowable Moment








Mass 1100 kg

Ambientconditions




Others





Model MOTOMAN-MH165

Type YR-MH00165-A00


Payload 165 kg


Range ofMotion

S -axis (turning) −180˚ − +180˚


U -axis (upper arm) −142.5˚ − +230˚




MaximumSpeed








View A

MOTOMAN-MH165

15

540

54

06

40

73

5

640

290±0.1 290±0.1353±0.1

290± 0

.1

290± 0

.135

0±0.

1

290±0.1 290±0.1

893

P.C.D

.92

P.C.D.125

8

8

375491

A

B

C

1490285

5133

29122222

250

T

U

L

S

0

12.2˚

12.2˚

12.2

˚

75

1225

509

583

1770

236

650

1008

3311

77

406

50

14

77

11

41

371

739

784

844

899

14

010

25

01150

153

22

03

585

18˚

60˚

42˚

50˚

25˚

R2912

R89

9

R608

45

12

01

33

27

.5

12

.5

41

07

3

92

16

255

180˚

180˚

91

142.5˚

137.5

12.2˚

76˚

344

60

40

P-Point

Tapped holes M8 (4 holes)(Depth: 15)





Tapped holes M10 (6 holes) (Depth: 12)


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

+0.0150


+0.0150

63

dia

.+0

.03

00

180

dia

.0 − 0.0

25

Connector for internal userI/O wiring harness (Base side):JL05-2A24-28PC (with cap)




20 dia.(2 holes)

+0.0210

16 dia.(2 holes)

+0.018022 dia.

(8 holes)

BR

View B

View C

DX100






View A

Allowable Moment








Mass 1140 kg

Ambientconditions




Others





Model MOTOMAN-MH215

Type YR-MH00215-A00


Payload 215 kg


Range ofMotion

S -axis (turning) −180˚ − +180˚


U -axis (upper arm) −142.5˚ − +230˚




MaximumSpeed








MOTOMAN-MH215

16

540

54

06

40

73

5

640

8- 22

290±0.1 290±0.1

290±0.1290±0.1353±0.1

ϕ

290± 0

.1

290± 0

.1

350±

0.1

893

8

8

92

45

60

255 40

27

.54

513

3

60

12

0 16

R804

R804

R2710

255

12

.5

R608R608

73

40

41

0

27

.5

180˚

180˚

P.C.D.92

P.C.D.125801

375

T

L

S

491

3109

142.5

˚

440

597

1070

0

381

52

271020204730

2501285

91

18˚18˚12.2˚

12.2˚

76˚

285

25˚

42˚

15

32

50

50˚

75137.5137.5

65

06

50 85

58

55

1150

12.2

˚

60˚

1401

804

589

534

7590

989

40

22

03

80

647

1225

0

1345

A

C

B

U

344344Tapped holes M8 (4 holes)(Depth: 15)




P-Point


Tapped holesM10 (6 holes)(Depth: 12)

Tapped holes M10 (6 holes) (Depth: 12)

63

dia

.+0

.03

00

18

0 d

ia.

0 − 0.0

25


+0.0150


+0.0150





20 dia. (2 holes)

+0.0210

16 dia.(2 holes)

+0.0180

B

R

View B

View C

DX100






Allowable Moment








Mass 1130 kg

Ambientconditions




Others





Model MOTOMAN-MH250

Type YR-MH00250-A00


Payload 250 kg


Range ofMotion

S -axis (turning) −180˚ − +180˚


U -axis (upper arm) −142.5˚ − +230˚




MaximumSpeed








View A

MOTOMAN-MH250

17

L

U

R2542

R665

419.5

150˚

150˚

50

10

0

86

0

100

25

R833

R10

84

200

0

2542

1299

43

9

01099

30˚

113˚

61˚

49˚ 26

0

R1113

26˚

1199

1084

91

3

76

37

87

52

5 0

45

250

165

23

65

90

01

05

0

9766

277

1543

900

1410

2379

2827

270280 1320

90

S

110

B

A

C

B

410±0.3

35

5± 0

.3

64

0

76

0

86

0

30

0± 0

.3

86087

405±0.3

330.5

577577

1154

570

575

38˚

55˚

30˚

760

640

40

0

20

818

100

30

˚

P.C.D.225

P.C

.D.2

00T

120

P-PointTapped holes M10(4 holes) (Pitch: 1.5)

Tapped holes M10(8 holes) (Depth: 21) (Pitch: 1.5)



Air outlet PT3/8 tappedwith plug


P-Point

Tapped holes M10(4 holes) (Pitch: 1.5)


14 dia.(8 holes)

12Elliptic hole

+0.0180

12 dia.(1 hole)

+0.0180

0 − 0.0

72

25

0 d

ia.+ 0

.063

016

0 di

a.



Air inlet PT3/8tapped with plug

28 dia. (8 holes)

12 dia. (2 holes)+0.0180

R

DX100






View C

View B

View A

Allowable Moment








Mass 2200 kg

Ambientconditions




Others





Model MOTOMAN-UP350D

Type YR-UP0350D-A00


Payload 350 kg


Range ofMotion

S -axis (turning) −150˚ − +150˚


U -axis (upper arm) −113˚ − +30˚




MaximumSpeed








MOTOMAN-UP350D

18

AU

120

100

R10

84

R66

5

R2542

50

R989

1020 1

00

25

419.5 200

2542

2827

900

2379

1299

43

9

113˚

61˚

26˚

49˚

25

0

23

65 10

50

16

5900

R1269

30˚

2701320280

1099

0

15431410

0

9766

277B

C

45 90

52

5 0

11

99

10

84

91

3

76

37

87

S

B T

L

661

577

1154

577

570

30

0± 0

.3

64

0

76

0

86

0

410±0.3

35

5± 0

.3

405±0.3

87 860

150˚

150˚

575

38˚

260

55˚

30

˚

110

400

760640

20

818

100

30

˚

P.C.D.225

P.C

.D.2

00

P-PointTapped holes M10(4 holes) (Pitch: 1.5)

P-Point




Air outlet PT3/8 tappedwith plug




14 dia.(8 holes)

12Elliptic hole

+0.0180

12 dia.(1 hole)

+0.0180

0 − 0.0

72

250

dia

.+ 0.0

630

160

dia.



Air inlet PT3/8tapped with plug

28 dia. (8 holes)

12 dia. (2 holes)+0.0180

R

View A

View B

View C

DX100






Allowable Moment








Mass 2350 kg

Ambientconditions




Others





Model MOTOMAN-UP350D-500

Type YR-UP0350D-A20


Payload 500 kg


Range ofMotion

S -axis (turning) −150˚ − +150˚






MaximumSpeed








MOTOMAN-UP350D-500

19

150˚

150˚

T

B

R

U

L

S

30˚

73˚

72

5

67˚

99˚

20˚

21˚

101˚

94

140

255

21

35

10

00

50

0

250

122˚

280

21˚

1100 260

32173384

1933

8481000

0195

1148

1524

35

18

18

47

15

53

20

04

12

93

12

27

7430

14

21

R3518

R1847

B

C

676 811

1495

.5

70

60

100

10

0

42

316

.5143

.5

96

5.5

A

435±0.1410±0.2

410±0.2

43

5± 0

.13

50± 0

.2

35

0± 0

.25

64

07

60

86

0

640760935

60˚

30

˚

P.C.D.20060˚

15˚15˚18

12

60˚

30˚

P.C.D.225

30

˚

60˚

P-Point


14 dia. (8 holes)

12 dia. (Depth: 20)

+0.0180





28 dia. (12 holes)

16 dia.(2 holes)

+0.0180




Tapped holeM8 (1 hole)(Depth: 15)

View A

View B

View C

DX100






Allowable Moment








Mass 3600 kg

Ambientconditions




Others





Model MOTOMAN-UP400RD

Type YR-UP0400RD-A00


Payload 400 kg


Range ofMotion

S -axis (turning) −150˚ − +150˚






MaximumSpeed








MOTOMAN-UP400RD

MOTOMAN-MH, HP, and UP Series

Specifications are subject to change without notice for ongoing product modifications and improvements.

© 2009-2012 YASKAWA ELECTRIC CORPORATION. All rights reserved.

LITERATURE NO. KAEP C940440 22I

12-1-29Published in Japan July 2012 09-4 11

YASKAWA ELECTRIC CORPORATION

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.

Sales Department

HEAD OFFICE2-1 Kurosaki-Shiroishi, Yahatanishi-ku, Kitakyushu, Fukuoka 806-0004, JapanPhone: +81-93-645-7745 Fax: +81-93-645-7746

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

YASKAWA Europe GmbHKammerfeldstr. 1, 80591 Allershausen, GermanyPhone: +49-8166-90-0 Fax: +49-8166-90-103

YASKAWA Nordic ABBredbandet 1vån. 3 varvsholmen 392 30 Kalmar, SwedenPhone: +46-480-417-800 Fax: +46-480-417-999

YASKAWA Electric (China) Co., Ltd.12F, Carlton Bldg., No.21 HuangHe Road, HuangPu District, Shanghai 200003, 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 Robotics India Limited#426, Udyog Vihar Phase-IV, Gurgaon, Haryana, IndiaPhone: +91-124-475-8500 Fax: +91-124-475-8542

YASKAWA Electric Korea Co., Ltd9F, Kyobo Securities Bldg., 26-4, Yeouido-dong, Yeongdeungpo-gu, Seoul 150-737, KoreaPhone: +82-2-784-7844 Fax: +82-2-784-8495

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.252/246, 4th Floor Muang Thai-Phatra Office Tower Rachadapisek Road,Huaykwang Bangkok, 10320 ThailandPhone: +66-2-693-2200 Fax: +66-2-693-4200

Controller Specifi cationsItems DX100 Controller FS100 Controller

Confi guration Dust proof Standard : IP20 (open structure), Option : IP54 (dustproof housing)

Dimensions, Mass 425 (W) × 450 (D) × 1200 (H) mm, 100 kg 470 (W) × 420 (D) × 200 (H) mm (Protrusions are not included.), 20 kg

Applicable MOTOMAN

All models described in this catalog Small Robots*1 : Possible to control three external axes 　 Large Robots*2 : Possible to control two external axes

MOTOMAN-MH5F, MH5LF, MH6F, HP20F(Possible to control two external axes)

Cooling System Indirect cooling Direct cooling

Ambient Temperature

During operation : 0˚C to +45˚CDuring storage : −10˚C to +60˚C

During operation : 0˚C to +40˚CDuring storage : −10˚C to +60˚C

Relative Humidity 90% max. (non-condensing) 90% max. (non-condensing)

Power SupplyThree-phase 200/220 VAC (+10% to −15%), 60 Hz (±2%) (Japan) Three-phase 200 VAC (+10% to −15%), 50 Hz (±2%) (Japan)

Three-phase 200/220 VAC (+10%，−15%)，50/60 HzSingle-phase 200/230 VAC (+10%，−15%)，50/60 Hz

Grounding Grounding resistance : 100 Ω or less Grounding resistance : 100 Ω or less

Digital l/OsSpecialized signals : 23 inputs and 5 outputs General signals : 40 inputs and 40 outputsMax. I/O (optional) : 2,048 inputs and 2,048 outputs

Specialized signals : 10 inputs and 1 output General signals : 28 inputs and 28 outputsMax. I/O (optional) : 1,024 inputs and 1,024 outputs

Positioning System

By serial encoder By serial encoder

Programming Capacity

JOB : 200,000 steps, 10,000 instructions CIO ladder : 20,000 steps

JOB : 10,000 steps, 1,000 instructions CIO ladder : 1,500 steps

Expansion Slots

PCI : 2 slots for main CPUs and 1 slot for servo CPU 1 additional slot for sensor board

MP2000 bus×5 slots

LAN(Connection to Host)

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

Interface RS-232C : 1ch RS-232C : 1ch

Control Method Software servo control Software servo control

Drive UnitsStandard 6 axes and 2 additional single-axis amplifi ers can be mounted (8 axes max.)

Standard 6 axes and 2 additional single-axis amplifi ers can be mounted.

Painting Color Munsell notation 5Y7/1 (reference value) Munsell notation 5Y7/1 (reference value)

Items Programming Pendant*3

Dimensions, Mass 169 (W) × 314.5 (H) × 50 (D) mm, 0.990 kg

Material Reinforced plastics

OperationDevice

Select keys, axis keys (8 axes), numerical/application keys, Mode switch with key (mode : teach, play, and remote), emergency stop button, enable switch, compact fl ash card interface device (compact fl ash is optional.), USB port (1 port)

Display 640×480 pixels color LCD, touch panel (Alphanumeric characters, Chinese characters, Japanese letters, Others)

IEC Protection Class

IP65

Cable Length Standard : 8 m, Max. : 36 m (optional) Standard : 8 m, optional : 20 m max.

*1 : Small Robots : Models of the MOTOMAN with a payload of 20 kg or less.

*2 : Large Robots : Models of the MOTOMAN with a payload of 50 kg or more. For MOTOMAN-MH215 and MH250, the regenerative resistor box (120 mm in depth, 50 kg) is mounted on the surface of the backside of the controller.

*3 : The programming pendant for the FS100 controller is optional. The model number of the programming pendant differs from that of the programming pendant for the DX100 controller.

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