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Handling & assemblyRobot program
Masters of Robotics,Motion and Control
Handlind & assembly 3
Controller Fs100 ............................................................................ 5
dX200 ........................................................................... 9
Handling & Assembly
es-series
ES165RD II .................................................................. 13
ES200RD II .................................................................. 13
sia-series
SIA5F ........................................................................... 17
SIA10F ......................................................................... 17
SIA20F ......................................................................... 17
sda-series
SDA5F .......................................................................... 21
SDA10F ........................................................................ 21
SDA20F ........................................................................ 21
HP-series
HP20F .......................................................................... 25
mH-series
MH3F ........................................................................... 27
MH5S II, MH5F ............................................................. 29
MH5LS II, MH5LF ......................................................... 29
MH6SF ......................................................................... 33
MH6SF-10 .................................................................... 33
MH6F ........................................................................... 35
MH12, MH12F .............................................................. 37
MH24 ........................................................................... 39
MH50 II ........................................................................ 41
MH50-20 II ................................................................... 43
MH50-35 II ................................................................... 45
MH80 II ........................................................................ 47
MH110 ......................................................................... 49
MH180 ......................................................................... 51
MH225 ......................................................................... 53
MH280 II ...................................................................... 55
MH400 II ...................................................................... 57
Contents
4 Handlind & assembly
Handlind & assembly 5
Real-time processing of sensor signals, reactions to camera infor-mation and other high-speed applications are thus made possible.All in all, the FS100 thus exploits its superlative performance capa-bilities to the full in applications where high flexibility is required.Another modern feature is the open concept of the controller which enables users to access robot interfaces and motions externally via a PC or PLC and also to develop their own applications. Interfaces such as MOTOMANSync and MotoPlus allow the controller to function as a slave of the higher-level controller in a line; this means that it is programmed in your customary PLC language. The streamlined and compact design requires little space for instal-lation, thereby saving valuable production space. The FS100 thus offers particular advantages for line builders.
Key benefits
• Designed as an open controller • Development of customized user applications• High flexibility for variable packaging solutions• Safe and fast• Space-saving, streamlined and compact• Energy-saving
The latest YASKAWA FS100 controller generation has been spe-cially developed for the Picking and Packing sectors and for further handling applications. The development goal was “Fast, safe, open, small”.
mOTOman Fs100Industrial robot controller
6 Handlind & assembly
mOTOman Fs100
Open ControllerConnection of Fs100 to the existing overall system with the yasKaWa software solutions•MOTOMANSync•MOTOPlus•MOTOGSI•Windowsoperatingsystem
Advanced Robot Motion Function (ARM)dynamic calculation of torque and loads on the robot axes• Extremelyhighpathaccuracy•Optimalrobotmotionandvelocity• Vibrationcontrol• Highlysensitivecollisiondetection
Communicationethernet, Web (ftp, opc) server options and all common fieldbus systems• Easyintegrationintoexistingnetworks• Remotemonitoringanddiagnosisofrobotsystems
Additional benefits•Multitasking(freeofextracharge)• IntegratedPLC•HighestperformanceduetoindustrialPC• Boottime:max.50sec.•MTTR(MeanTimeToRepair):<5min.• Automaticrobotcalibration
High performance controller Fs100for mOTOman-Robots
Programming pendant (PHG)ergonomical, light and easy
• Easy and fast programming• Several user levels –
from operation to maintenance• Help function
Control cabinet
dimensions 470(W)x200(H)x420(D)
Weight Approx. 20 kg
Protection class IP20
Cooling system Indirect cooling
ambient temperature
0°to+45°C(operation) –10°to+60°C(transportandstorage)
Relative humidity Max. 90 % non-condensating
Power supply 3-phase200/220VACat50/60Hzor 1-phase200/230VACat50/60Hz
digital i/O
Card1:28inputs/28outputs(16standard/12system)(Expandableto1024inputs/1024outputs)Card2:28inputs/28outputs(standard)
Positioning system Absolute encoder / serial interface
Program memory 10.000 steps, 1.000 instructionsand 1.500 PLC steps
interfaceProfibus(Slave),EthernetIP(Master/Slave),DeviceNet(Master/Slave),CC-Link(Slave),Profinet(Master/Slave)
Color Analog RAL 7032
5,7’’ LCD colourdisplay
Touch screen
Windows operating system
Operation keysstart/stopemergency off
Cursor key
3 position deadman switch(rearsidenotvisible)
Display can be individually set for each application
USB-Connection(reverseside)
Main axes keys
Additionalaxes keys
Flash card slot
Handlind & assembly 7
mOTOman Fs100
Min
. 200
Min
. 150
Min. 100
Warning Label
Information Plate
AirAirAir
Air
Air
ProgrammingPendant (PHG)
!
!
YASKAWA ELECTRIC CORPORATIONMADE IN JAPAN
DATESERIAL No.
NJ3366-1
TYPE ERMR-Drawing No.
Approx Mass
NJ3371
Can cause muscle strain orback injury.Use lifting aids& proper lifting techniqueswhen removing or replacing.
重量物/HEAVY OBJECTけがの恐れあり。移設・運搬時には台車等の適切な機材を使用すること。
NJ3372
Contact may causeelectric shock or burnTurn off and lock outsystem power before servicing.
危険電圧けが、火災の恐れあり。保守・点検前に装置電源をOFFして、ロックアウトすること。HAZARDOUS VOLTAGE
NJ1529
オーダの同一NO.と接続し御使用願います。Motoman本体とYASNACは、下記
ORDER NO.
Backside FAN(EV2 + EV3)
CONVERTER Cooling FAN (EV1)
Back Side ConnectorExternal Axes Connector
1020
0
469
Robot Specific Input Connector
Blind PlateLED Check WindowFuse (F1)
Warning LabelCircuit Protector (QF1)
Connector For P.P. (X81)
Input Power Connector (CN1)
Rating Name Plate (NP)
Air
Fixing Jig(Provided by USER)
AC200/220V3-PHASEPOWER SUPPLY AVERAGE
kVA1-PHASE 50/60HzAC200/230V
Largest Load A
Full Load Current A
NJ3369-1
MAX. OCP Device Current Rating
Short Circuit Current Rating
AkA
kAInterrupt Current
O N
PROGRAMMING PENDANTX 8 1
FS100 MPP3
CP-30-HP-0
CP-30-HP-0
CP-30-HP-0
CP-30-HP-0
2431
Air
420
1517
015
20 380 20
A A
C C
Air Air
maintenance
Functions System monitor, internal maintenance clocks (e.g.Servopower-ontime)
self-diagnosis Classifies errors and major/minor alarms and displays the data
User alarm display Alarm messages for peripheral devices
alarm display Alarm messages and alarm history
i/O diagnosis Simulated enable/disable outputs
TCP calibration Automatic calibration of TCP (ToolCenterPoint)
Programming pendant
dimensions 169(W)x314.5(H)x50(D)
Touchscreen display 5.7”colourLCD(640x480pixels)
Weight 0.986 kg
Coordinate system Joint, Rectangular/cylindrical, Tool, User-coordinates
speed adjustment Fine adjustment possible during operation or teach mode
shortcuts Direct access keys and user selectable screen keys possible
language Mostlyspokenlanguagesavailable(worldwide)
interface CompactFlashcardslot,USBport
Operating system Windows CEsafety features
specifications
Dual-channel safety system (Emergencystop,safetyinterlock), 3-position Dead-man’s switch, Europeansafetystandard(ISO10218)
Collision avoidance Collision avoidance zones and radial interference zones
Collision detection Monitors robot axes’ torque levels
machine lock Test-run peripheral device without robot motion possible
Programming
Programming language INFORM III
Robot motion control Joint motion, linear, circular, spline interpolation
speed adjustementJointmotion(%ofmaximum) Interpolation(mm/sec;cm/min;inch/min) Angularvelocity(°/sec)
8 Handlind & assembly
Handlind & assembly 9
in ladder logic processing including 4,096 I/O addresses, a variety of fieldbus network connections, a high-speed E-server connec-tionandI/Fpanels(10)whichshowstheHMIonthependant.It often eliminates the need for separate PLC and human machine interface(HMI)anddeliverssignificantcostsavingsatsystemlevel,while decreasing work cell complexity and improving overall re- liability. Dynamic interference zones protect the robot arm and provide advanced collision avoidance. The Advanced Robot Motion (ARM) control provides high per- formance, best-in-class path planning and dramatically reduces teaching time. It supports coordinated motion with multiple robots or other devices. A Small, lightweight Windows® CE programming pendant features colour touch screen with multiple window display capability. Pro-gramming features are designed to use minimum number of key- strokes and are facilitated by new function packages and more than 120 functions. Furthermore it conserves the power consumption from 38 % – 70 % depending on application and robot size. It is available with the optional Category 3 Functional Safety Unit (FSU)andallowsanestablishmentof 32safetyunitsandup to 16 tools.
Key benefits
• Application specific function packages including more than 120 functions
•Optionalcategory3FunctionalSafetyUnit(FSU)• High productivity• Low integration costs• Integrated cell control capabilities• High reliability and energy efficiency• Easy maintanance• Simple programming• ConvenientcompactflashslotandUSBportfacilitate
memory backups
YASKAWAs new next-generation DX200 controller features robust PC architecture and system-level control for robotic work cells. Using patented multiple robot control technology, as well as I/O devices and communication protocols furthermore it provides built-
mOTOman dX200Industrial robot controller
10 Handlind & assembly
mOTOman dX200
High performance controller dX200 for mOTOman-Robots
Programming pendant (PHG)ergonomical, light and easy
• Easy and fast programming• Several user levels –
from operation to maintenance• Help function
Multi-Robot-Synchronisation functionReal time synchronisation of up to eight robots and external axes (max. 72 axes)• Jiglessworkingpossible• Enableshighdensityrobotlayouts• Reducedcycletime
Advanced-Robot-Motion function (ARM)dynamic calculation of robot axis torque and load• Highperformancepathaccuracy•Optimisedrobotmotionandspeed• Vibrationcontrol• Highlysensitivecollisiondetection
Functional Safety Unit (FSU) Category 3•Multiplezoneswithinsideandoutsidepositionmonitoring• Speedlimitingandstand-stillmonitoring•Multipletoolinterferenceandanglechecking
Communication featuresbuilt-in ethernet, Web (ftp, opc) server options and fieldbus support of the 15 most common brands on the market• Easytoconnecttoexistingnetworks• Remotemonitoringanddiagnosisofrobotsystems
Further features•Multitasking• InternalSPS•HighperformancebyindustrialPC• Boottimemax.50sec•MTTR(MeanTimeToRepair):<10min.• Automaticzerocalibration•Special function packages including more than 120 functions
for a wide variety of applications
5,7’’ LCD colourdisplay
Touch screen
Windows operating system
Operation keysstart/stopemergency off
Cursor key
3 position deadman switch(rearsidenotvisible)
Display can be individually set forapplications:– Handling– Shielded Arc Welding–SpotWeldingorGeneral Applications
USB-Connection(reverseside)
Main axes keys
Additionalaxes keys
MULTILAYOUT
TOOL SELCOORD
DIRECTOPEN
GO BACKPAGE
LANGUAGEAREA
MAINMENU
ENTRY
SIMPLEMENU
SERVOON
READY
ASSIST!?
CANCEL
SELECT
CF-card slot
Control cabinet
dimensions 800(W)x1000(H)x650(D)
Weight Approx. 180 kg
Protection class IP54
Cooling system Indirect cooling
ambient temperature
0°to+45°C(operation) –10°to+60°C(transportandstorage)
Relative humidity Max. 90 % non-condensating
Power supply 3-phase400/415/440VACat50/60Hz
digital i/O 40inputs/40outputs(standard) (Expandableto4096inputs/4096outputs)
analogue in/outputs 40channels(optional)
Positioning system Absolute encoder / serial interface
Program memory 200.000 steps, 10.000 instructions and 15.000 PLC steps
interface Ethernet
Color Graphitgray:RAL7024Lightgrey:RAL7035
Handlind & assembly 11
mOTOman dX200
4 x M16
62
565
4,3
799,
3
DX
200
MULTILAYOUT
TOOL SELCOORD
DIRECTOPEN
GO BACKPAGE
LANGUAGEAREA
MAINMENU
ENTRY
SIMPLEMENU
SERVOON
READY
ASSIST!?
CANCEL
SELECT
Bottom cover
1000
800
Main power Supply switch
Warning label
Key handle
Programming pendant (P.P.)
Rating name plate
61.1
Air exhaustCEEConnector
654
Min
.20
0
maintenance
Functions System monitor, internal maintenance clocks (e.g.Servopower-ontime)
self-diagnosis Classifies errors and major/minor alarms and displays the data
User alarm display Alarm messages for peripheral devices
alarm display Alarm messages and alarm history
i/O diagnosis Simulated enable/disable outputs
TCP calibration Automatic calibration of TCP (ToolCenterPoint)
Programming pendant
dimensions 169(W)x314.5(H)x50(D)
Touchscreen display 5.7”colourLCD(640x480pixels)
Weight 0.990 kg
Coordinate system Joint, Rectangular/cylindrical, Tool, User-coordinates
speed adjustment Fine adjustment possible during operation or teach mode
shortcuts Direct access keys and user selectable screen keys possible
language Mostlyspokenlanguagesavailable(worldwide)
interface CompactFlashcardslot,USBport
Operating system Windows CEsafety features
specifications
Dual-channel safety system (Emergencystop,safetyinterlock), 3-position Dead-man’s switch, Europeansafetystandard(ISO10218)
Collision avoidance Collision avoidance zones and radial interference zones
Collision detection Monitors robot axes’ torque levels
machine lock Test-run peripheral device without robot motion possible
Programming
Programming language INFORM III
Robot motion control Joint motion, linear, circular, spline interpolation
speed adjustementJointmotion(%ofmaximum) Interpolation(mm/sec;cm/min;inch/min) Angularvelocity(°/sec)
12 Handlind & assembly
Handlind & assembly 13
performance in the areas of handling, machine tending and press brake tending. Being shelf-mounted, it is able to unload work pieces from above. This saves precious floor space and ensures that the space required for tool changing is kept free. Furthermore, the internal cable routing extends the service life of the robots, increases safety and reduces cycle times. The MOTOMAN ES165RD II /ES200RD II is controlled by the high-performance MOTOMAN DX200 controller. This is available with theoptionalFunctionalSafetyUnit(FSU)thatoffersawiderange of new safety functions.
Key benefits
• Fast, flexible and powerful• Streamlined design for minimal space requirements• Shelf-mounted:
– Working range extended – Simple gripping of components
• Possibility of mounting on machine• Longer service life of the dress package due to internal routing
of the cables through the upper arm of the robot• Improved welding quality due to integrated control system for
servomotor-driven spot welding guns
The flexible MOTOMAN ES165RD II /ES200RD II is a 6-axis shelf-mounted robot. It offers high productivity, reliability and maximum
mOTOman es165Rd ii/es200Rd iiSpot Welding, Handling & GeneralApplicationswiththeES-series
Controlled by
DX200
14 Handlind & assembly
specifications es165Rd ii
axesmaximum
motion range[ º ]
maximumspeed
[ º/sec.]
allowablemoment
[ nm]
allowable moment of inertia
[ kg · m2 ]
Controlled axes 6
max. payload [ kg ] 165
s ±180 105 – – Repeat. pos. accuracy [ mm ] ±0.2
l +80/–130 105 – – max. working range R [ mm ] 3140
U +208/–112 105 – – Temperature [ ºC] 0 to +45
R ±360 175 921 85 Humidity [%] 20 – 80
b ±130 150 921 85 Weight [ kg ] 1730
T ±360 240 490 45 Power supply, average [ KVa ] 5
1 x Air
Internal user wiring connectorMedia connector
2 x Ø 9 H7, depth 8
6 x M10, depth 12
8
8
PCD 92
PCD 125
6 x M10,depth 12
Ø 1
60 h
6
Ø 6
3 H
7
2 x Ø 10 H7, depth 8
Mounting option: Floor
2 x Ø 16 H7
893
640
735
640
540
8 x Ø 22
290±0.1 290±0.1
353±0.1
540
290±0.1 290±0.1
290±
0.1
290±
0.1
350±
0.1
2 x Ø 20 H7
555
365
R873
R1212
R1000 R3140
Internal user wiring connectorMating connector
1 x Air
Connector for the external axisMating connector
4 x M8, depth 15
255
40
120
4 x M8, depth 15
4 x M8, depth 15
2 x M5, depth 10
2 x M6, depth 12
9234
4
40 27.512.5
255
45 60
133
120
16
555 365
D
2850
2295
746
22
456
85
289
310 0
450
100
75 205
732
1212
1107
3140
1932
112°
78°
80°
10.6°22
5
82
1225
0
28°
795
0
130°10.6°
740 1150
2293
78°
250 153
Working range Point P
P
B
A
C
8 x M12,depth 24
View a
allowable wrist load
mOTOman es165Rd ii
View b
View C
View d
400 1000600 800
400
600
200
1200 1400 1600
800
1000
1200LT
LBT-, R-axiscentre ofrotation
B-axiscentre of rotation
165kg
100kg
60kg
80kg
40kg
130kg
P-point
Handlind & assembly 15
specifications es200Rd ii
axesmaximum
motion range[ º ]
maximumspeed
[ º/sec.]
allowablemoment
[ nm]
allowable moment of inertia
[ kg · m2 ]
Controlled axes 6
max. payload [ kg ] 200
s ±180 90 – – Repeat. pos. accuracy [ mm ] ±0.2
l +80/–130 85 – – max. working range R [ mm ] 3140
U +208/–107 85 – – Temperature [ ºC] 0 to +45
R ±360 120 1344 143 Humidity [%] 20 – 80
b ±125 120 1344 143 Weight [ kg ] 1800
T ±360 190 715 80 Power supply, average [ KVa ] 5
2850
2295
766
42
564
85
304
310 0
450
100
75 205
741
1232
1117
3140
1932
107°
78°
80°
11.6°25
0
91
1225
0
28°
795
0
130°11.6°
740 1150
2293
78°
250 153
Working range Point P
P
B
A
C
8 x M12,depth 24
1 x Air
Internal user wiring connectorMedia connector
2 x Ø 9 H7, depth 8
6 x M10, depth 12
8
8
PCD 92
PCD 125
6 x M10,depth 12
Ø 1
80 h
6
Ø 6
3 H
7
2 x Ø 10 H7, depth 8
Mounting option: Floor
2 x Ø 16 H7
893
640
735
640
540
8 x Ø 22
290±0.1 290±0.1
353±0.1
540
290±0.1 290±0.1
290±
0.1
290±
0.1
350±
0.1
2 x Ø 20 H7
555
365
R873
R1232
R1000 R3140
Internal user wiring connectorMating connector
1 x Air
Connector for the external axisMating connector
4 x M8, depth 15
255
40
120
4 x M8, depth 15
4 x M8, depth 15
2 x M5, depth 10
2 x M6, depth 12
9234
4
40 27.512.5
255
45 60
133
120
16
555 365
D
View a
allowable wrist load
mOTOman es200Rd ii
View b
View C
View d
400 1000600 800
400
600
200
1200 1400 1600
800
1000
1200LT
LBT-, R-axiscentre ofrotation
B-axiscentre of rotation
P-point200kg
130kg
80kg
100kg
60kg
165kg
16 Handlind & assembly
Handlind & assembly 17
mOTOman sia-seRiesFlexible Applications with the SIA-series
openupawiderangeofindustrialapplications:idealforassembly,injection moulding, inspection, machine tending and a host of otheroperations.This robots are driven by the compact MOTOMAN FS100 controller.
The SIA-series are small and agile 7-axis robots providing „human-like“ flexibility of movement and fast acceleration. They distinguish themselves through slim and lightweight design. They offer high payload and big working ranges. These agile and versatile robots
Controlled by
FS100
Key benefits
• 7 axes• Flexible applications• Compact design allows maximum performance
18 Handlind & assembly
specifications sia5F
axesmaximum
motion range[ º ]
maximumspeed
[ º/sec.]
allowablemoment
[ nm]
allowable moment of inertia
[ kg · m2 ] Controlled axes 7
s ±180 200 – – max. payload [ kg ] 5
l ±110 200 – – Repeat. pos. accuracy [ mm ] ±0.06
θ ±170 200 – – max. working range R [ mm ] 559
U –90/+115 200 – – Temperature [ ºC] 0 to +40
R ±180 200 14.7 0.45 Humidity [%] 20 – 80
b ±110 230 14.7 0.45 Weight [ kg ] 30
T ±180 350 7.35 0.11 Power supply. average [ KVa ] 1.0
–
T
+
E– +
S– +
Ø 8
0
PCD 63
5
45°
4245
10
8.2
*2
*3
*3
2 x Ø 6, depth 10
4 x M6, depth 10
11
97.5
97.5
215
5
3530
220
165
62.5
97.5 46
173.5(28.7)
(214)
6
17.5 30
4 x Ø 10 2 x Ø 811
8
165
Internal user wiring connectorMedia connector
2 x Air
270 148
270
559 559
448
559
60
85
309.
5
694.
5
Ø 8
0
Ø 129.5 Ø 1
05
220
R559
R144
Workingrange Point P
+
–B
+
–R
– U
+
–L+
B
C
A
View a
mOTOman sia5F
View b
View C
allowable wrist load
Mountingoptions:Floor,wall,ceiling
0 200
5kg
3kg2kg
400
200
600
300
100P-point
B-axiscentre of rotation
R-, T-axiscentre of rotation
148
LT
LB
Handlind & assembly 19
specifications sia10F
axesmaximum
motion range[ º ]
maximumspeed
[ º/sec.]
allowablemoment
[ nm]
allowable moment of inertia
[ kg · m2 ] Controlled axes 7
s ±180 170 – – max. payload [ kg ] 10
l ±110 170 – – Repeat. pos. accuracy [ mm ] ±0.06
θ ±170 170 – – max. working range R [ mm ] 720
U ±135 170 – – Temperature [ ºC] 0 to +40
R ±180 200 31.4 1.0 Humidity [%] 20 – 80
b ±110 200 31.4 1.0 Weight [ kg ] 60
T ±180 400 19.6 0.4 Power supply. average [ KVa ] 1.0
4 x Ø 14
2 x Ø 8
67.5
97.5 97.5
225(34)
67.5
97.5
97.5
225
(264)30
17.5
5
17.5 305
230
165
11
Ø17
Ø 8
0 h6
2 x Ø 6,depth 10
4 x M6, depth 11
PC
D 6
1.4 P
CD
63
45°
45°17
5
L
S
U
B
Ø 204
360
1255
360
360
73 73
84.5 80.5
100 105
A
D D
P
360
636
720
1080
R276
R720
135°
110°
110°
135°110°
110°
123
135° 135°
Workingrange Point P
B
C
P
118
165
Internal user wiring connectorMedia connector
2 x Air
10kg
5kg
3kg
155
P-point
B-axiscentre of rotation
R-, T-axiscentreof rotation
600
800
400
200
600400200 800 1000 1200
LT
LB
View a
mOTOman sia10F
View b
View C
allowable wrist load
Mountingoptions:Floor,wall,ceiling
20 Handlind & assembly
specifications sia20F
axesmaximum
motion range[ º ]
maximumspeed
[ º/sec.]
allowablemoment
[ nm]
allowable moment of inertia
[ kg · m2 ] Controlled axes 7
s ±180 130 – – max. payload [ kg ] 20
l ±110 130 – – Repeat. pos. accuracy [ mm ] ±0.1
θ ±170 170 – – max. working range R [ mm ] 910
U ±130 170 – – Temperature [ ºC] 0 to +40
R ±180 200 58.8 4.0 Humidity [%] 20 – 80
b ±110 200 58.8 4.0 Weight [ kg ] 120
T ±180 400 29.4 2.0 Power supply. average [ KVa ] 2.2
268
165
Internal user wiring connectorMedia connector
2 x Air
280
340
3090
60
143
130
130
143
50 65
240
280
240
120
60
4 x Ø 14
2 x Ø 8
29 15
100
h6
4025
8
PCD 8
0
6 x M8, depth 12
2 x Ø 8,depth 10
30°11
0°
110°
110°
110°
1320
800
910
130°130°
390
178
130°
R390
910
Workingrange Point P
B
C
P
Lamp(option)
208
420
490
410
1528120 109.5
104 98
80 85.5
D
A
P
180
20kg
15kg
10kg
5kg
P-point
B-axiscentre of rotation
R-, T-axiscentreof rotation
600
800
400
200
600400 800 1000
LT
LB
View a
allowable wrist load
mOTOman sia20F
View b
View C
Mountingoptions:Floor,wall,ceiling
Handlind & assembly 21
mOTOman sda-seRiesFlexible Applications with the SDA-series
Superior dexterity and best-in-class wrist characteristics make slim, dual-arm robots ideally suited for assembly, part transfer, ma-chine tending, packaging and other handling tasks, that formerly could only be done by people.This allround-robot are driven by the MOTOMAN FS100 compact controller.
The SDA-series are slim an agile 15-axis dual-arm robots providing „human-like“ flexibility of movement and fast acceleration. They distinguish themselves through slim and lightweight design.
Controlled by
FS100
Key benefits
• 15 axes• Flexible applications• Compact design allows maximum performance
22 Handlind & assembly
specifications sda5F
axesmaximum
motion range[ º ]
maximumspeed
[ º/sec.]
allowablemoment
[ nm]
allowable moment of inertia
[ kg · m2 ]
Rotation ±170 180 – – Controlled axes 15
s –90/+270 200 – – max. payload [ kg ] 5
l ±110 200 – – Repeat. pos. accuracy [ mm ] ±0.06
θ ±170 200 – – max. working range R [ mm ] 845/559
U –90/+115 200 – – Temperature [ ºC] 0 to +40
R ±180 200 14.7 0.45 Humidity [%] 20 – 80
b ±110 230 14.7 0.45 Weight [ kg ] 110
T ±180 350 7.35 0.11 Power supply, average [ KVa ] 1.4
4 x AirConnectors for internal user I/O wiring harness
280
280
120
3090
60±0.03
60±0.03
143±0.03
240
130±
0.03
130±
0.0314
3±0.
0350 65
240
4 x Ø 14
2 x Ø 8
R845
148
270
85
60 270 486
270 60
110°
110°
150
45
Working range Point P
A A
+ U –
+ U– + L –– L +
R– +B– +
R+ –
B+ –
22045 150
R55
9
R144
355
Ø171.5
990
729.
6
900
148
WorkingrangePoint P
B
C
*2
*3*3
2 x Ø 6, depth 10
4 x M6, depth 10
Ø 80
5
PCD 63
10
4542
8,2
45°
View a
mOTOman sda5F
View b
View C
Mountingoptions:Floor
200
5kg
3kg
2kg
400 600
P-point
300
100
200
148B-axiscentre of rotation
R-, T-axiscentre of rotation
LB
LT
allowable wrist load
Handlind & assembly 23
specifications sda10F
axesmaximum
motion range[ º ]
maximumspeed
[ º/sec.]
allowablemoment
[ nm]
allowable moment of inertia
[ kg · m2 ]
Rotation ±170 130 – – Controlled axes 15
s ±180 170 – – max. payload [ kg ] 10
l ±110 170 – – Repeat. pos. accuracy [ mm ] ±0.1
θ ±170 170 – – max. working range R [ mm ] 720/720
U ±135 170 – – Temperature [ ºC] 0 to +40
R ±180 200 31.4 1.0 Humidity [%] 20 – 80
b ±110 200 31.4 1.0 Weight [ kg ] 220
T ±180 400 19.6 0.4 Power supply, average [ KVa ] 1,5
2 x Ø 12 H7
347.5±0.05 107.5±0.05
107.5±0.05
8 x Ø 18
(505
)
80
80
140
80
500 14
0
500
140
60
(505)
14080
60
255±
0.05
200±
0.05
200±
0.05
92.5
2 x 6 H7, depth 114 x M6, depth 11
PCD 61.4
PCD 63
45°45°
11Ø 80
6 x Air
Connectors for internal user I/O wiring harness
505
720
1200
895
360
360
175
265
530
R72
0
R720
R276 R276
1354
265
1341
2502505
A A
R1R2
PP
WorkingrangePoint P
165
146
329
223
R720
100205
157.5342.5
200
B
C
505
5
View a
mOTOman sda10F
View b
View C
Mountingoptions:Floor
200
10kg
5kg
3kg
400 600 800 1000 1200
800
400
600
200P-point
B-axiscentre of rotation
R-, T-axiscentre of rotation
155LB
LT
allowable wrist load
24 Handlind & assembly
specifications sda20F
axesmaximum
motion range[ º ]
maximumspeed
[ º/sec.]
allowablemoment
[ nm]
allowable moment of inertia
[ kg · m2 ]
Rotation ±180 125 – – Controlled axes 15
s ±180 130 – – max. payload [ kg ] 20
l ±110 130 – – Repeat. pos. accuracy [ mm ] ±0.1
θ ±170 170 – – max. working range R [ mm ] 1323/910
U ±130 170 – – Temperature [ ºC] 0 to +40
R ±180 200 58.8 4.0 Humidity [%] 20 – 80
b ±110 200 58.8 4.0 Weight [ kg ] 380
T ±180 400 29.4 2.0 Power supply, average [ KVa ] 4.4
29 15
100
h6
4025
8
PCD 8
0
6 x M8, depth 12
2 x Ø 8,depth 10
30°
4 x Ø 22
2 x Ø 10 H7
215±0.1
215±
0.1
140±
0.02
140±
0.02
360
270
360
180±0.02
420
565
4 x Air
Connectors for internal user I/O wiring harness
B
C
A
180°180° 86
80
9710
4
110
120
R420
R91
0R390
260
110°
110°
130°
130°
110°
110°
R910
R39
0
490 420 208150
1618
R910
R42
0
R420
R390
770
385
385
1010
180°
180°
R1323
Working range Point P
P R2
P R1
View a
allowable wrist load
mOTOman sda20F
View b
View C
Mountingoptions:Floor
16kg
20kg
10kg
5kg
800
400
200
600
LT
LB600 800400 1000
180
P-point
B-axiscentre of rotation
R-, T-axiscentre of rotation
Handlind & assembly 25
The compact HP20F requires minimal installation space, and offers improved part accessibility and the widest work envelope in its class.This robot is driven by the MOTOMAN FS100 compact controller.
Key benefits
• Increase productivity due to high speed motion• Ideal for a variety of applications, multi-purpose robot• Improved part accessibility• A robust and ridgid robot with increased inertia
The high-speed, 6-axis MOTOMAN HP20F robot offers superior performance in a variety of applications, such as handling, welding, machine tending, packaging, cutting and assembly, where small to medium sized parts are handled.
Controlled by
FS100
mOTOman HP20FHandling&GeneralApplicationswith the HP-series
26 Handlind & assembly
specifications HP20F
axesmaximum
motion range[ º ]
maximumspeed
[ º/sec.]
allowablemoment
[ nm]
allowable moment of inertia
[ kg · m2 ]
Controlled axes 6
max. payload [ kg ] 20
s ±180 197 – – Repeat. pos. accuracy [ mm ] ±0.06
l +155/–110 175 – – max. working range R [ mm ] 1717
U +255/–165 187 – – Temperature [ ºC] 0 to +45
R ±200 400 39.2 1.05 Humidity [%] 20 – 80
b +230/–50 400 39.2 1.05 Weight [ kg ] 268
T ±360 600 19.6 0.75 Power supply, average [ KVa ] 2
138.5
264 157
421
R421
R1717
180°
180°
R31
4
150
2072
81°
559
238
0
505
505
760
1485
260 0
471
807
991917
155°
165°
110°
255°
524
0
334
505
768
1003
140
80
1323
1417
87.5150 795
0514
635
459
288
349
413
105
807
1717
A
B
C
R
S
L
U B T
D
Working rangePoint P
P
1 x Air
Internal user wiring connector
2 x Ø 12 H7
4 x Ø 18
200
260
170
250
375
335
200313
60
335
375
±0.1
±0.1
±0.1
±0.
1
Mounting options: Floor, ceiling, wall
4 x M6, depth 10
70 70
1 x Air
Internal user wiring connector
PCD 40
4 x M6, depth 10
45°
Ø 6 H7, depth 6
6
0.5
Ø 5
0 n7
Ø 2
5 H
7
6
View a
allowable wrist load allowable load on U-axis
mOTOman HP20F
View b
View C
View d
W = 6 kg
W = 10 kg
W = 20 kg
W = 16 kg
300
100
200
LT
LB100 200 300 400
105B-, T-axiscentre of rotation
B-axiscentre of rotation
P-point
4 x M6, depth 10
70
70
W1 = Weight at wrist W2 = Weight at U-axis
Allowable load on U-axis
*1 In this case, unbalanced moment is not permitted
*1
30
(kg)
W1 = 16 kg20
10W1 = 20 kg
0
W1 = 10 kg
W1 = 6 kg
Weig
ht W
2
–200 –100 0 100 200 300 400 500(mm
)
Handlind & assembly 27
is ideal for lab automation, education and research applications. The base width of only 170 mm allows it to be mounted in con- fined spaces. The compact design and built-in collision avoidance features with multiple robot control allow up to two robots to be used together to optimise productivity. Furthermore the internally routed cables and hoses maximize the system reliability. This robot can be driven by the FS100 compact controller.
Key benefits
• Excellent value for money makes this an affordable robot• 6 axes design provides high flexibility• 3 kg payload is ideal for light duty handling and process
applications• High repeatability delivers accurate process• Compact body design with internally routed services allow
for small installation footprint• Floor, wall and ceiling mounting options provide integration
flexibility
mOTOman mH3FHandling&GeneralApplications with the MH-series
YASKAWAs smallest type of the MH-series, the MOTOMAN MH3F, is a powerful high-speed 6-axis robot, designed for more compact, lighter payload applications. The high repeatability of 0.03 mm of-fers superior performance in small part handling and assembly and
Controlled by
FS100
28 Handlind & assembly
specifications mH3F
axesmaximum
motion range[ º ]
maximumspeed
[ º/sec.]
allowablemoment
[ nm]
allowable moment of inertia
[ kg · m2 ]
Controlled axes 6
max. payload [ kg ] 3
s ±160 200 – – Repeat. pos. accuracy [ mm ] ±0.03
l +90/–85 150 – – max. working range R [ mm ] 532
U +260/–105 190 – – Temperature [ ºC] 0 to +40
R ±170 300 5.39 0.10 Humidity [%] 20 – 80
b ±120 300 5.39 0.10 Weight [ kg ] 27
T ±360 420 2.94 0.03 Power supply, average [ KVa ] 0.5
R104
R188
R532160°
160°
Mounting options: Floor, ceiling, wall
95
99.5
68 68
99.5
55°
105°
577930
659
290
260
532
90
0
270
188
229
372
531
40
(*2)
(*1)193
47
381
204
13374
389
337
583
822
189
180
21
90°
219
1580
85°
260°27
6
42
0
474Working range Point P
P
A
B
C
4 x Air
Internal user wiring connectorMedia connector
4 x Ø 9
88±
0.1
170
150
88±0.1
145
78±
0.1 50±0.1
15517
0
150
50
50Ø 6
5
5
Ø 2
0 H
7
Ø 4
0 H
6
Ø 31.5
45°
4 x M5
Ø 5 H7
View a
allowable wrist load
mOTOman mH3F
View b
View C
R-, T-axiscentre ofrotation
B-axis centre of rotation
LT
LB
200 300100200
100
200
1003 kg
1.5 kgP-point
Handlind & assembly 29
machine tending and dispensing, where versatility is required. The MH5S II, MH5F and MH5LS II, MH5LF feature high reach and offer the widest work envelope in its class. Its compact design and built-in collision detection feature with multiple robot control allow up to eight robots to be used together to optimize productivity. This all-round robots can be driven by the high-performance-controller DX200 as well as the compact-controller FS100.
Key benefits
• Compact, powerful and economical• Compact design allows maximum performance using minimal
floor space• Yields extraordinary production results while requiring minimal
capital investment• Internally routed cables and hoses maximize system reliability
The MOTOMAN MH5S II, MH5F and MH5LS II, MH5LF are com-pact, high speed 6-axis robots that offer superior performance in a variety of applications such as packaging, material handling,
mOTOman mH5s ii, mH5FmOTOman mH5ls ii, mH5lFHandling&GeneralApplicationswith the MH-series
Controlled by
DX200Controlled by
FS100
30 Handlind & assembly
specifications mH5s ii, mH5F
axesmaximum
motion range[ º ]
maximumspeed
[ º/sec.]
allowablemoment
[ nm]
allowable moment of inertia
[ kg · m2 ]
Controlled axes 6
max. payload [ kg ] 5
s ±170 376 – – Repeat. pos. accuracy [ mm ] ±0.02
l +150/–65 350 – – max. working range R [ mm ] 706
U +155/–136 400 – – Temperature [ ºC] 0 to +45
R ±190 450 12 0.3 Humidity [%] 20 – 80
b ±135 450 12 0.3 Weight [ kg ] 27
T ±360 720 7 0.1 Power supply, average [ KVa ] 1
109 109
1BC2BC
3BC 4BCAIR1AIR2
2 x Reserved cable connectorMatchingconnector
2 x Air
4 x M5, depth 9
Ø 5 H7, depth 75
45°PCD 31.5
Ø 1
2 H
6
Internal user wiring connectorMatching connector
2 x Air
Mounting options: Floor, ceiling, wall
138
160
194
105 100±0.05
160 92
±0.
192
±0.
1
66±0.160±0.1
85±
0.1
194
100±
0.05
4 x Ø 12Ø 12
2 x Ø 6
0
203
243
0
246
178
239
474
947
0 235
706
114
51
486
554
136°
310
88
330
40
305 80
65°
150°737
37°
57
155° P
A
B
C
RU
S
L
T
B
Working range Point P
D
R235
4 x M8, depth 16 mm
4 x M4, depth 8
2 x M4, depth 8
R706
110
2540
87
70 55
298
423
170°
170°
View a
allowable wrist load
mOTOman mH5s ii, mH5F
View b
View C
View d
5kg
3kg
1.5kg
300
100
141
182200
258
0 500447
400316
300244
200
80B-axiscentre of rotation
T-axiscentre of rotation
P-point
LT
LB
Please notewall mounting option:+/– 30° S-axis limit
Please note ceiling mounting option(mH5s ii):Depends on B-axisposition
Handlind & assembly 31
specifications mH5ls ii, mH5lF
axesmaximum
motion range[ º ]
maximumspeed
[ º/sec.]
allowablemoment
[ nm]
allowable moment of inertia
[ kg · m2 ]
Controlled axes 6
max. payload [ kg ] 5
s ±170 270 270 – Repeat. pos. accuracy [ mm ] ±0.03
l +150/–65 280 280 – max. working range R [ mm ] 895
U +255/–138 300 300 – Temperature [ ºC] 0 to +45
R ±190 450 450 0.3 Humidity [%] 20 – 80
b ±135 450 450 0.3 Weight [ kg ] 29
T ±360 720 720 0.1 Power supply, average [ KVa ] 1
1BC2BC
3BC 4BCAIR1AIR2
2 x Reserved cable connectorMatchingconnector
2 x Air
4 x M5, depth 9
Ø 5 H7, depth 75
45°PCD 31.5
Ø 1
2 H
6
Internal user wiring connectorMatching connector
2 x Air
Mounting options: Floor, ceiling, wall
138
160
194
105 100±0.05
160 92
±0.
192
±0.
1
66±0.160±0.1
85±
0.1
194
100±
0.05
4 x Ø 12Ø 12
2 x Ø 6
109 109
330
400
40
65°
32°827
57
150°
255°
9681
400
267
0 895
014
341
288
98
503
1137
808
198
0
317
423
132
209
8040588
138°
P
Working range Point P
A
B
C
D
T
BRU
S
L
110
2540
87
70 55
398
523170°
170°R895
R267
4 x M8, depth 16 mm
4 x M4, depth 8
2 x M4, depth 8
View a
allowable wrist load
mOTOman mH5ls ii, mH5lF
View b
View C
View d
5kg
3kg
1.5kg
300
100
141
182200
258
0 500447
400316
300244
200
80B-axiscentre of rotation
T-axiscentre of rotation
P-point
LT
LB
Please notewall mounting option:+/– 30° S-axis limit
Please note ceiling mounting option(mH5ls ii):Depends on B-axisposition
32 Handlind & assembly
Handlind & assembly 33
The short-arm models of the MH6 family is highly compact, giving it greater stiffness and making it ideal for positioning in confined spaces and close to the workpiece.It’s maximum working range amounts 977 mm. With increased speed of the robot axes, cycle times can be reduced.
Key benefits
• Compact and powerful•GreaterStiffness• Ideal for a variety of applications, multi-purpose robots• Maximum working range of 977 mm• Maximum payload of 6/10 kg
mOTOman mH6sF, mH6sF-10Handling&GeneralApplications with the MH-series
The industrial robots MOTOMAN MH6SF and MH6SF-10 are compact and powerful 6-axis robots with high performances in a variety of applications such as machine tending, material handling and processing, where versatility is required.
Controlled by
FS100
34 Handlind & assembly
specifications mH6sF, mH6sF-10
axesmaximum
motion range [ º ]
maximumspeed
[ º/sec.]mH6sF / mH6sF-10
allowablemoment
[ nm]mH6sF / mH6sF-10
allowable moment of inertia
[ kg · m2 ]mH6sF / mH6sF-10
mH6sF / mH6sF-10
Controlled axes 6
max. payload [ kg ] 6 / 10
s ±170 220 / 200 – – Repeat. pos. accuracy [ mm ] ±0.08
l +133/–80 220 / 200 – – max. working range R [ mm ] 997
U +165/–130 220 / 200 – – Temperature [ ºC] 0 to +45
R ±180 410 / 270 11.8 / 12.2 0.27 / 0.24 Humidity [%] 20 – 80
b +225/–45 410 / 270 9.8 / 14.2 0.27 / 0.21 Weight [ kg ] 120
T ±360 610 / 400 5.9 / 7.3 0.06 / 0.06 Power supply, average [ KVa ] 1.5
Mounting options: Floor, ceiling, wall
R453
R997
170°
R285
170°
136
4 x Ø 18
102±0.1
153±0.1
153±
0.1
130±
0.1
100±0.1
300
292
260
102±
0.1
132±
0.1
60
132±0.1240
300
260
60
Ø 12 H7
2 x Ø16 H7
0
197
128
1297
150 520
1580
373
305
488
450
155
133°
130°
80°
692
0 317
453
370
997
256
300
450
658
095
165°
Working range Point P
P
A
B
CS
L
B
TR
U
D
6
6
Ø 2
5 H
7
Ø 5
0 H
6
45°
PCD Ø 40
4 x M6, depth 9
Ø 6 H7, depth 6
1 x Air
Internal user wiring connectorMedia conncector
View a
allowable wrist load allowable load on U-axis
mOTOman mH6sF, mH6sF-10
View b
View C
X Direction Restriction
Distance between Centre of U-axis Rotation and Load Gravity (mm)
Wei
ght W
2 (k
g)
20
15
10
5
04003002000 100–200 –100
W1=0 kg
W1=6 kgW1=3 kg
100
238167 300200
W=6kg
W=3kg
LB
LT
100
141
200
B-, T-axiscentre ofrotation
B-axiscentre of rotation
P-point
Handlind & assembly 35
Its slim and lightweight design enables it to be positioned close to the workpiece to improve part accessibility. With increased speed of the robot axes, cycle times can be reduced up to 15% for increased productivity.This robot is driven by the MOTOMAN FS100 compact controller.
Key benefits
• Compact and powerful• Cycle time reduction with up to 15 %• Ideal for a variety of applications, multi-purpose robot• Wide working envelope• 6 kg payload
mOTOman mH6FHandling&GeneralApplications with the MH-series
The MOTOMAN MH6F is a compact and powerful 6-axis robot with high performance in a variety of applications such as machine tending, material handling and processing, where versatility is required.
Controlled by
FS100
36 Handlind & assembly
specifications mH6F
axesmaximum
motion range[ º ]
maximumspeed
[ º/sec.]
allowablemoment
[ nm]
allowable moment of inertia
[ kg · m2 ]
Controlled axes 6
max. payload [ kg ] 6
s ±170 220 – – Repeat. pos. accuracy [ mm ] ±0.08
l +155/–90 200 – – max. working range R [ mm ] 1422
U +250/–175 220 – – Temperature [ ºC] 0 to +45
R ±180 410 11.8 0.27 Humidity [%] 20 – 80
b +225/–45 410 9.8 0.27 Weight [ kg ] 130
T ±360 610 5.9 0.06 Power supply, average [ KVa ] 1.5
Mounting options: Floor, ceiling, wall
2 x Air
Internal user wiring connectorMedia connector
130
R270
R1422R381
170°
170°
141
199188
A
B
C
175°
83°
90°
155°
250°
614
155
956407545
0
1422
381
349
152
0309
637
1122
1722
681
352
05
204316
764
538 0
501
1294
S
L
B T
R
U
Working range Point P
P
6
6
Ø 2
5 H
7
Ø 5
0 H
6
45°
PCD 40
4 x M6, depth 9
Ø 6 H7, depth 6
4 x Ø 18
102±0.1
153±0.1
153±
0.1
130±
0.1
100±0.1
300
292
260
102±
0.1
132±
0.1
60
132±0.1240
300
260
60
Ø 12 H72 x Ø 16 H7
View a
allowable wrist load allowable load on U-axis
mOTOman mH6F
View b
View C
X Direction Restriction
Distance between Centre of U-axis Rotation and Load Gravity (mm)
Wei
ght W
2 (k
g)
20
15
10
5
04003002000 100–200 –100
W1=0 kg
W1=6 kgW1=3 kg
100
238167 300200
W=6kg
W=3kg
LB
LT
100
141
200
B-, T-axiscentre ofrotation
B-axiscentre of rotation
P-point
Handlind & assembly 37
Thehollowshaftstructureisadoptedtotheupper-arm.Bystoringthe cables in the arm, operation restriction due to the cable inter- ference is reduced. Therefore, maintainability such as simplifying of the robot teaching operation or eliminating of the cable disconnec-tion problems, etc. is improved.Stream-lined structure adopted to the new type arc welding pur- pose robot is also applied to this multipurpose-applicable robot. And this adoption contributes to reduce the interference area between the jigs and work pieces. Superior performance can be delivered in handling operations which requires for example the rotation of large-sized work pieces. The Servo-Float function enables, for example in plastic injection moulding machines, savely handling of work pieces which are pushed back by the ram, including the arm of the robot.
Key benefits
• Expandeddiameterofhollowwrist(50mm)• Fastandpowerful(max.payload12kg)• Reduced interference due to internal cable wiring• Servo float possible• Stream-lined structure• Easy maintenance
mOTOman mH12, mH12FHandling&GeneralApplications with the MH-series
The flexible, high speed 6-axis robot MOTOMAN MH12, MH12F with its payload up to 12 kg is newly added to the YASKAWA product lineMOTOMANMH-series. By realising the highestmotion per- formance in its class, YASKAWA is contributing to the productivity development.
Controlled by
DX200Controlled by
FS100
38 Handlind & assembly
specifications mH12, mH12F
axesmaximum
motion range[ º ]
maximumspeed
[ º/sec.]
allowablemoment
[ nm]
allowable moment of inertia
[ kg · m2 ]
Controlled axes 6
max. payload [ kg ] 12
s ±170 220 – – Repeat. pos. accuracy [ mm ] ±0.08
l +155/–90 200 – – max. working range R [ mm ] 1440
U +240/–175 220 – – Temperature [ ºC] 0 to +45
R ±180 410 22 0.65 Humidity [%] 20 – 80
b ±135 410 22 0.65 Weight [ kg ] 130
T ±360 610 9.8 0.17 Power supply, average [ KVa ] 1.5
Mounting options: Floor, wall, ceiling
199 94.5
198.5
45
R410170°
170°
R1440
2613
4 x M6, depth 14
Ø 5
0
5
Ø 6
2
56
22.5
8 x M4,depth 8
Ø 4, depth 6
128
128
1734
299
361
450
614
200
100 155 640 100
84
705
777
2511
041
0
1440206
1129 0
900
155°
848
606
Working range Point P
P
B
C
A
B
S
T
R
L
U
2 x Air
Internal user wiring connectorMedia connector
2 x 16 Ø12 Ø
60
102
153±
0.113
2±0.1
60
260
240 132±0.1
300
260
292
300
100±0.1 102±0.1
153±0.1
130±
0.1
4 x 18 Ø
View a
allowable wrist load
mOTOman mH12, mH12F
View b
View C
W = 6kg
200 300 400 500
LB
LT 300
200
100
238
167
83
187 329 465
W = 3kg
W = 12kg
P-point
100R-, T-axiscentre of rotation
B-axiscentre of rotation
Please notewall mounting option:+/– 30° S-axis limit
Please note ceiling mounting option:Depends on B-axisposition
Handlind & assembly 39
of supply lines, thereby reducing interference contours and in- creasing the service life of the hose package. Despite the hollow design, the outer contour of the upper arm has only been slightly modified.With its high payload capacity of 24 kg and streamlined design, the MOTOMAN MH24 only has a small footprint. Maintenance is simplified by means of a preventive maintenance function for gear-motors and hardware.New safety functions, such as position monitoring of the robot and accessories for motion limitation, and an external media package for field bus cables are optionally available.
Key benefits
• Fast,compactandpowerful(max.payloadcapacity24kg)• Universally deployable• Hollowfrontarm: – Diameter 50 mm – Additional payload 12 kg – Minimized interference contours• Simple servicing/maintenance• Advanced safety functions
mOTOman mH24Handling&GeneralApplications with the MH-series
The 6-axis MOTOMAN MH24 high-speed robot from YASKAWA offers outstanding performance in a wide range of applications, e.g. handling or machine tending. The hollow structure of the upper arm(diameter50mm)ofthisuniversalrobotallowsinternalrouting
Controlled by
DX200
40 Handlind & assembly
specifications mH24
axesmaximum
motion range[ º ]
maximumspeed
[ º/sec.]
allowablemoment
[ nm]
allowable moment of inertia
[ kg · m2 ]
Controlled axes 6
max. payload [ kg ] 24
s ±180 197 – – Repeat. pos. accuracy [ mm ] ±0.06
l +155/–105 190 – – max. working range R [ mm ] 1730
U +240/–170 210 – – Temperature [ ºC] 0 to +45
R ±200 410 50.0 2.1 Humidity [%] 20 – 80
b ±150 410 50.0 2.1 Weight [ kg ] 268
T ±455 620 30.4 1.1 Power supply, average [ KVa ] 2.0
Mounting options: Floor, wall, ceiling
2×M10XP1.5(Depth:18)
2×M10XP1.5(Depth:12)
Matching connector type is JL05-6A20-29P(provided by users)
Internal user wiring connectorJL05-2A20-29SC(with cap)
Air exhaust PT3/8with pipe plug(A)
45 92
229
30
229
30
1 x Air
Internal user wiring connectorMedia connector
56
22.5
128
128Ø 5
0
Ø 6
2
Ø 1
00
60
316
2 x Ø 12
4 x Ø 18
200±
0.1
260±0.117
0±0.1 37
5
335
200±0.1
60
292
375
335
4 x M6, depth 14
180°
180°
180
630
70168
130
100
1545
2613
R406
R1730
4 x M6, depth 12
2 x M6, depth 12
138.5
94.5
50
266 157
423
505
760
200
150 795120
100317
30
519
0
326
761
2085
0
1429
1024 807
694
277
406
240°
105°
155°
170°
84 3088
100
Working range Point P
P
B
D
C
ATRU
S
L
B
4 x M8, depth 1628.5
6 15
48
15
8 x M4, 8 depth
Ø 4 x H7, 6 depth
View a
mOTOman mH24
View b
View C
View d
Handlind & assembly 41
Featuring a streamlined body, the MH50 II can be placed close to machines for loading and unloading of parts.
Key benefits
• Fast, flexible and reliable• Ideal for a variety of applications, multi-purpose robot• Robot with sleek design that requires minimal installation space• 50 kg payload
mOTOman mH50 iiHandling&GeneralApplications with the MH-series
The MOTOMAN MH50 II is a versatile, high speed 6-axis robot offering superior performance in material handling, machine tending, processing and dispensing applications.
Controlled by
DX200
42 Handlind & assembly
specifications mH50 ii
axesmaximum
motion range[ º ]
maximumspeed
[ º/sec.]
allowablemoment
[ nm]
allowable moment of inertia
[ kg · m2 ]
Controlled axes 6
max. payload [ kg ] 50
s ±180 180 – – Repeat. pos. accuracy [ mm ] ±0.07
l +135/–90 178 – – max. working range R [ mm ] 2061
U +251/–170 178 – – Temperature [ ºC] 0 to +45
R ±360 250 216 28 Humidity [%] 20 – 80
b ±125 250 216 28 Weight [ kg ] 550
T ±360 360 147 11 Power supply, average [ KVa ] 4
210
870
540
187
1807
120°
8721360510561771 248 530 543 2061
3832
0
145 1025 175
437
925
2456
460
1121
3578
0
135°
90°
55°
170°
118
1369
453
0105 105
57
223.5
40253343
1 x Air
Internal user wiring connectorMedia connector
234234
A
B
C
TRU
S
L
B
1 x Air
Internal user wiring connectorMedia connector
42
6 x M8, depth 14
40
6
6
Ø 6 H7, depth 10
PCD 8
0
Ø 8 H7, depth 14
Ø 1
00 h
7
Ø 5
0 H
7
10 (Standard) 8 (Zeroing)
4 x M12, depth 20
Working range Point P
P
230
400
195±0.1 230±0.1
195±0.1
195±
0.1
320
385
230±
0.1
8 x Ø 22
195±
0.1
455
608
455153
280
2 x Ø 12 H7
Mounting options: Floor, ceiling, wall
R543R2061
50 50
200611.5
10098.5
5050
4 x M8, depth 16
R377
4 x M8, depth 16
View a
allowable wrist load
mOTOman mH50 ii
View b
View C
Please notewall mounting option:+/– 30° S-axis limit
Please note ceiling mounting option:Depends on B-axisposition
P-point
T-, R-axiscentre of rotation
B-axis centre of rotationLT
LB
200 400 600 800 1000 1200 1400 1600 1800
1200
1000
800
600
400
200
200
400
600
800
1000
1200
10 kg
20 kg
30 kg40 kg50 kg
Handlind & assembly 43
Key benefits
• High repeatability ±0.15 mm• Ideal for a variety of applications, multi-purpose robot• Verywidemotionrange• Small interference radius reduces floorspace requirements • Specifically designed for processing large parts
mOTOman mH50-20 iiHandling&GeneralApplicationswith the MH-series
The MOTOMAN MH50-20 II is a dynamic, high-speed robot featur- ing an extended reach for large parts. It offers superior perform- ance in arc welding, coating, gluing, dispensing, material cutting and material handling applications.
Controlled by
DX200
44 Handlind & assembly
specifications mH50-20 ii
axesmaximum
motion range[ º ]
maximumspeed
[ º/sec.]
allowablemoment
[ nm]
allowable moment of inertia
[ kg · m2 ]
Controlled axes 6
max. payload [ kg ] 20
s ±180 180 – – Repeat. pos. accuracy [ mm ] ±0.15
l +135/–90 178 – – max. working range R [ mm ] 3106
U +251/–160 178 – – Temperature [ ºC] 0 to +45
R ±190 400 39.2 1.05 Humidity [%] 20 – 80
b ±230/–50 400 39.2 1.05 Weight [ kg ] 495
T ±360 600 19.6 0.75 Power supply, average [ KVa ] 3.5
1 x Air
Internal user wiring connectorMedia connector
230
400
195±0.1 230±0.1
195±0.1
195±
0.132
0
385
230±
0.1
8 x Ø 22
195±
0.1
455
608
455153
280
2 x Ø 12 H7
Mounting options: Floor, ceiling, wall
6
60.5 PCD 4045°
Ø 5
0 n6
Ø 2
5 H
7
4 x M6Ø 6 H7
2816
1065 665
5922
36 0
2084
3106
10771227
414
5585
0
2070
3501
358
733
923
208
1050
1396
1402
145 1800 105
55
1990
540
1150
200
100
160°
135°
45°90°
71°
206°
25°
65°
10°
105 105
223.
540
4 x M12
Working range Point P
PR
S
L
TU B
253349
1 x Air
Internal user wiring connectorMedia connector
234234
2 x 2 M82 x 2 M8
R3106
28.5 120
80 30
661.5 400R965
R377
180°
180°
A
B
C
View a
mOTOman mH50-20 ii
View b
View C
Please notewall mounting option:+/– 30° S-axis limit
Please note ceiling mounting option:Depends on B-axisposition
Wrist + U-arm in front
Up to 20 kg for attaching load mass including wrist load
U-arm behindUpto10kg.49N·m(5kgf·m)max.for increased moment amount of upper arm(floor-,ceiling-mountedtypeonly)
s-axis below Upto30kg(floor-,ceiling-mountedtypeonly)
allowable wrist load
W = 6 kg
W = 10 kg
W = 20 kg
W = 16 kg
100
LT
100
200 300 400
200
300
LB
P-point
105T-, R-axiscentre of rotation
B-axiscentre of rotation
Handlind & assembly 45
mOTOman mH50-35 iiHandling&GeneralApplicationswith the MH-series
Controlled by
DX200
Key benefits
• Highrepeatability:±0.07mm• Ideal for a variety of applications, multi-purpose robot• Wide motion range• Small interference radius reduces floorspace requirements • Specifically designed for processing large parts
The MOTOMAN MH50-35 is a dynamic, high-speed robot featur- ing an extended reach for large parts. It offers superior performance in laser welding, coating, dispensing, gluing, material cutting and material handling applications.
46 Handlind & assembly
specifications mH50-35 ii
axesmaximum
motion range[ º ]
maximumspeed
[ º/sec.]
allowablemoment
[ nm]
allowable moment of inertia
[ kg · m2 ]
Controlled axes 6
max. payload [ kg ] 35
s ±180 180 – – Repeat. pos. accuracy [ mm ] ±0.07
l +135/–90 140 – – max. working range R [ mm ] 2538
U +296/–160 178 – – Temperature [ ºC] 0 to +45
R ±360 250 147 10 Humidity [%] 20 – 80
b ±125 250 147 10 Weight [ kg ] 570
T ±360 360 78 4 Power supply, average [ KVa ] 4
mOTOman mH50-35 ii
AirInternal user wiring connectorMedia connector
253343
234234
R
S
L
T
U B
540
1150
210
187
1225 175145
64°
10°
65°
80°
2087
57
105 105
223.
540
2248 950
165
428
160°
1516
469
702889
2538
229
0
4448
1549
960
2933
90°
135°
45°
121
279
513
565
206°
4 x M12
Working range Point P
P
A
B
C
4 x M8
4 x M8
R2538
R377
10098.5
200811.5
50 505050
230
400
195±0.1 230±0.1
195±0.1
195±
0.132
0
385
230±
0.1
8 x Ø 22
195±
0.1
455
608
455153
280
2 x Ø 12 H7
Mounting options: Floor, ceiling, wall
42
6 x M8, depth 14
40
6Ø 6 H7, depth 10
P
CD 80
Ø 8 H7, depth 14
Ø 1
00 H
6
Ø 5
0 H
7
10
1 x Air
Internal user wiring connectorMedia connector
View a
allowable wrist load
View b
View C
Please notewall mounting option:+/– 30° S-axis limit
Please note ceiling mounting option:Depends on B-axisposition
10kg
20kg
30kg
35kg
LT
200
400 600 800
400
600
1000LB
P-point
T-, R-axiscentre of rotation
B-axiscentre of rotation
Wrist + U-arm in front
Up to 35 kg for attaching load mass including wrist load
U-arm behindUpto10kg.49N·m(5kgf·m)max.for increased moment amount of upper arm(floor-,ceiling-mountedtypeonly)
s-axis below Upto30kg(floor-,ceiling-mountedtypeonly)
Handlind & assembly 47
Despite its streamlined body, the MOTOMAN MH80 II features a wide work envelope with a small interference radius. Thereby it can be placed close to machines for loading and unloading of parts, which reduces the required floor space to a minimum.
Key benefits
• Flexible and powerful• High axis speeds• Improved wrist ratings provide higher handling capacity• Small interference radius reduces floor space requirements
mOTOman mH80 iiHandling&GeneralApplicationswith the MH-series
The MOTOMAN MH80 II is a versatile high speed 6-axis robot, providing a high payload of up to 80 kg. It offers superior per- formance in material handling, machine tending, processing and dispending applications.
Controlled by
DX200
48 Handlind & assembly
specifications mH80 ii
axesmaximum
motion range[ º ]
maximumspeed
[ º/sec.]
allowablemoment
[ nm]
allowable moment of inertia
[ kg · m2 ]
Controlled axes 6
max. payload [ kg ] 80
s ±180 170 – – Repeat. pos. accuracy [ mm ] ±0,07
l +135/–90 140 – – max. working range R [ mm ] 2061
U +251/–170 160 – – Temperature [ ºC] 0 bis +45
R ±360 230 392 28 Humidity [%] 20 – 80
b ±125 230 392 28 Weight [ kg ] 555
T ±360 350 196 11 Power supply, average [ KVa ] 4,5
253343
1 x Air
Internal user wiring connectorMedia connector
234234
42
6 x M8, depth 14
40
6
6
Ø 6 H7, depth 10
PCD 8
0
Ø 8 H7, depth 14
Ø 1
00 h
7
Ø 5
0 H
7
10
230
400
195±0.1 230±0.1
195±0.1
195±
0.1
320
385
230±
0.1
8 x Ø 22
195±
0.1
455
608
455153
280
2 x Ø 12 H7
Mounting options: Floor
R543
R2061
50 50
200611.5
10098.5
5050
4 x M8, depth 16
4 x M8, depth 16
1 x Air
4 x M4, depth 3
32
32
Internal user wiring connectorMedia connector
210
870
540
187
1807
120°
8721360510561771 248 530 543 2061
3832
0
145 1025 175
437
925
2456
460
1121
3578
0
135°
90°
55°
170°
118
1369
453
0105 105
57
223.5
40
A
B
C
TRU
S
L
B
4 x M12, depth 20
Working range Point P
P
View a
allowable wrist load
mOTOman mH80 ii
View b
View C
P-point
T-, R-axiscentre of rotation
B-axis centre of rotation
LT
LB
200 400 600 800
400
200
200
400
50 kg
60 kg 70 kg80 kg
Handlind & assembly 49
MOTOMAN MH110 has a streamlined design, which allows extremely close positioning of several robots. Also the slim cable inlet reduces the robots width, therefore valuable floor space can be saved. The MOTOMAN MH110 is available with the optional Category 3 Functional Safety Unit (FSU), which allows an establishment of 32 safety units and up to 16 tools.
Key benefits
• Fast and flexible•Widemotionrange:2236mm•Highpayload:110kg• Compact design• Slim cable inlet• Enhanced safety functions
mOTOman mH110Handling&GeneralApplicationswith the MH-series
The 6-axis MOTOMAN MH110 is a versatile, high speed robot offering superior performance for a variety of applications, for example material handling, machine and press tending. Despite of providing a wide motion range and high payload of 110 kg, the
Controlled by
DX200
50 Handlind & assembly
specifications mH110
axesmaximum
motion range[ º ]
maximumspeed
[ º/sec.]
allowablemoment
[ nm]
allowable moment of inertia
[ kg · m2 ]
Controlled axes 6
max. payload [ kg ] 110
s ±180 140 – – Repeat. pos. accuracy [ mm ] ±0.07
l +155/–90 110 – – max. working range R [ mm ] 2236
U +160/–185 130 – – Temperature [ ºC] 0 to +45
R ±360 175 721 60 Humidity [%] 20 – 80
b ±125 175 721 60 Weight [ kg ] 625
T ±360 255 294 33.7 Power supply, average [ KVa ] 5.0
Mounting option: Floor
Internal user wiring connectorMedia connector
5 x Air
Ø 3
1.5
H7
Ø 1
40 h
6
10 x M10, depth 15
2 x Ø 100, depth 15
7
Ø 125
289
546
256
257
8 x Ø 22
2 x Ø 12
230
400
195±0.1 230±0.1
195±0.1
195±
0.1
320
385
230±
0.1
455
608
455153
280
195±
0.1
0
0 0
540
870
235
320 1020 200
45°
155°
90°
160°
2236
1536
3773
1295
2456
3751
740
966
543
414
1482
1016
185
949
185°
349
394
Working range Point P
B
C
A
P
TR
S
L
BU
98.5 100
R223627.5
12.5
45
246 92
16 604 x M8, depth 14
2 x M5, depth 9
2 x M6, depth 114 x M8,
depth 14
allowable wrist load
mOTOman mH110
800
600
400
200
400 600 800 1000 1200 1400 1600
P-point
LB
50 kg60 kg
80 kg110 kg
R-, T-axiscentre of rotation
B-axiscentre of rotation
LT
View a
View b
View C
Handlind & assembly 51
Despite of providing a high payload of 180 kg and the wide motion range of 2702 mm, the MOTOMAN MH180 was designed with a width of 625 mm, therefore valuable floor space can be saved.With the higher axis operation speed and speed reducer rigidity, a new vibration control systemwasdeveloped.By reducing cycletimes, this system realises high increases in productivity.
Key benefits
• Fast, flexible and powerful• Highpayload:180kg•Widemotionrange:2702mm• Maximum performance using minimal floor space
mOTOman mH180Handling&GeneralApplicationswith the MH-series
The 6-axis MOTOMAN MH180 is a versatile, high speed robot offering superior performance for a variety of applications, like material handling, machine and press tending.
Controlled by
DX200
52 Handlind & assembly
specifications mH180
axesmaximum
motion range[ º ]
maximumspeed
[ º/sec.]
allowablemoment
[ nm]
allowable moment of inertia
[ kg · m2 ]
Controlled axes 6
max. payload [ kg ] 180
s ±180 125 – – Repeat. pos. accuracy [ mm ] ±0.2
l +76/–60 115 – – max. working range R [ mm ] 2702
U +90/–147 125 – – Temperature [ ºC] 0 to +45
R ±360 182 1000 90 Humidity [%] 20 – 80
b ±130 175 1000 90 Weight [ kg ] 970
T ±360 265 618 46.3 Power supply, average [ KVa ] 5.0
Mounting option: Floor, wall
6 x M10, depth 14
6 x M10, depth 14
2 x Ø 10 H7, depth 8 2 x Ø 9 H7,
depth 8
125
92
Ø 6
3H7
Ø 1
80h6
9
8
30°
(275) 344
276 349
220
3061
928
332
598
957
577
1441
562
762
713
709
407
9
2450325 1225 250
650
300
2702
R2411
60°
76°
19°
4°
147°
90°
1150
970
2253
153
Working range Point P
P
B
C
A
TR
S
L
BU
4 x M8, depth 14
2 x M5, depth 9
2 x M6, depth 11
2 x 2 x M8, depth 14
R2702
R713
27.5 12
.545
120
344 92
16 60
R515
255 40
1 x Air
Internal user wiring connectorMedia connector
4 x 2 x Ø 22
2 x Ø 20 H732
0
420
500
290450
295±0.125
0±0.
1
185±
0.1
185±
0.1
210
230±0.1
25040
210
230±0.1
View a
allowable wrist load
mOTOman mH180
View b
View CPlease notewall mounting option:+/– 30° S-axis limit
1200
1000
800
600
400
200
400 600 800 1000 1200 1400 1600
P-point
40 kg
60 kg80 kg
100 kg
130 kg165 kg
180 kg
R-, T-axiscentre of rotation
B-axiscentre of rotation
LB
LT
Handlind & assembly 53
Despite of providing a high payload of 225 kg and the wide motion range of 2702 mm, the MOTOMAN MH225 was designed with a width of 625 mm, therefore valuable floor space can be saved.With the higher axis operation speed and speed reducer rigidity, a new vibration control systemwasdeveloped.By reducing cycletimes, this system realises high increases in productivity.
Key benefits
• Fast, flexible and powerful• Highpayload:225kg•Widemotionrange:2702mm• Maximum performance using minimal floor space
mOTOman mH225Handling&GeneralApplicationswith the MH-series
The 6-axis MOTOMAN MH225 is a versatile, high speed robot offering superior performance for a variety of applications, like material handling, machine- and press tending.
Controlled by
DX200
54 Handlind & assembly
specifications mH225
axesmaximum
motion range[ º ]
maximumspeed
[ º/sec.]
allowablemoment
[ nm]
allowable moment of inertia
[ kg · m2 ]
Controlled axes 6
max. payload [ kg ] 225
s ±180 120 – – Repeat. pos. accuracy [ mm ] ±0.2
l +76/–60 97 – – max. working range R [ mm ] 2702
U +90/–147 115 – – Temperature [ ºC] 0 to +45
R ±360 145 1372 145 Humidity [%] 20 – 80
b ±125 145 1372 145 Weight [ kg ] 1000
T ±360 220 735 84 Power supply, average [ KVa ] 5.0
Mounting option: Floor
1 x Air
Internal user wiring connectorMedia connector
6 x M10, depth 16
6 x M10, depth 16
2 x Ø 10 H7, depth 8 2 x Ø 9 H7,
depth 8
125
92
Ø 6
3H7
Ø 1
80h6
9
8
30°
(270) 344
276 349
220
3061
928
332
598
957
577
1441
562
762
713
709
407
9
2450325 1225 250
650
300
2702
R2411
60°
76°
19°
4°
147°
90°
1150
970
2253
153
Working range Point P
P
B
C
A
TR
S
L
BU
4 x M8, depth 14
2 x M5, depth 9
2 x M6, depth 11
2 x 2 x M8, depth 14
R2702
R713
27.5 12
.545
120
344 92
16 60
R515
255 40
4 x 2 x Ø 22
2 x Ø 20 H732
0
420
500
290450
295±0.125
0±0.
1
185±
0.1
185±
0.1
210
230±0.1
25040
210
230±0.1
View a
mOTOman mH225
View b
View C
allowable wrist load
1200
1000
800
600
400
200
400 600 800 1000 1200 1400 1600
P-point
60 kg
80 kg
100 kg
130 kg165 kg225 kg
R-, T-axiscentre of rotation
B-axiscentre of rotation
LB
LT
Handlind & assembly 55
cycle times and increase production output. The compact, slim design allows the robot to reach into confined spaces, improving system productivity.The MOTOMAN MH280 II is available with the optional Category 3 Functional Safety Unit (FSU), which allows an establishment of 32 safety units and up to 16 tools.
Key benefits
• Fast, flexible and powerful• Compact design allows maximum performance using
minimal floor space • Max. payload of 280 kg• Max. working range of 2446 mm• Enhancedsafetyfuntions(optional)
mOTOman mH280 iiHandling&GeneralApplicationswith the MH-series
The MOTOMAN MH280 II is a versatile, high-speed 6-axis robot offering superior performance in material handling, machine tend- ing and press tending. The MH280 II offers a large work envelope of 2446 mm and a high moment of inertia ratings. Fast axial speeds and acceleration reduce
Controlled by
DX200
56 Handlind & assembly
specifications mH280 ii
axesmaximum
motion range[ º ]
maximumspeed
[ º/sec.]
allowablemoment
[ nm]
allowable moment of inertia
[ kg · m2 ]
Controlled axes 6
max. payload [ kg ] 280
s ±180 90 – – Repeat. pos. accuracy [ mm ] ±0.2
l +76/–60 80 – – max. working range R [ mm ] 2446
U +230/–142.5 90 – – Temperature [ ºC] 0 to +45
R ±360 115 1333 142 Humidity [%] 20 – 80
b ±125 110 1333 142 Weight [ kg ] 1120
T ±360 190 706 79 Power supply, average [ KVa ] 5
Mounting option: Floor
Internal user wiring connectorMedia connector
2 x Air
2 x Ø 9, depth 8
6 x M10, depth 12
8
8
PCD 92
PCD 125
6 x M10,depth 12
Ø 1
80 h
6
Ø 6
3 H
7
2 x Ø 10, depth 8
491 340
2 x M6, depth 104 x M8, depth 15
2 x M5, depth 104 x M8, depth 15
491
R847
7341
0 R608
R2446
120
40255
34416 60
92
133
12.5
27.5
45
4202
112
2845
709
455
861
1153
0117
1401
787
846
744
332
7480
788
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
4 x M12,depth 24
Working rangePoint P
P
A
B
C
R
S
L
U B
T
Tube forField bus Cable
Tube forField bus Cable
2 x Ø 16 H7
893
64073
5
640
540
8 x Ø 22
290±0.1 290±0.1
353±0.1
540
290±0.1 290±0.1
290±
0.1
290±
0.1
350±
0.1
2 x Ø 20 H7
View a
mOTOman mH280 ii
View b
View C
600 800 1000 1200LB
LT
P-point
800
600
400
200
100 kg
150 kg
200 kg
280 kg240 kg
R-, T-axiscentre of rotation
B-axiscentre of rotation
allowable wrist load
Handlind & assembly 57
The robot features a parallel-link construction for strength, rigidity and stabilization of high moment and inertia loads. The MH400 II also has heavy-duty bearings which provide a smooth arm rotation.The MOTOMAN MH400 II is available with the optional Category 3 Functional Safety Unit (FSU), which allows an establishment of 32 safety units and up to 16 tools.
Key benefits
• Fast, flexible and powerful• Highpayload:400kg•Widemotionrange:2942mm• Parallel-link construction• Heavy-duty bearings for smooth arm rotation• Enhanced safety functions
mOTOman mH400 iiHandling&GeneralApplicationswith the MH-series
The 6-axis MOTOMAN MH400 II is a versatile, powerful robot offer- ing superior performance for a variety of applications. It provides a high payload of 400 kg and a wide motion range, which especially enables the handling of large work pieces.
Controlled by
DX200
58 Handlind & assembly
specifications mH400 ii
axesmaximum
motion range[ º ]
maximumspeed
[ º/sec.]
allowablemoment
[ nm]
allowable moment of inertia
[ kg · m2 ]
Controlled axes 6
max. payload [ kg ] 400
s ±180 102 – – Repeat. pos. accuracy [ mm ] ±0.3
l +61/–55 97 – – max. working range R [ mm ] 2942
U +18/–113 97 – – Temperature [ ºC] 0 to + 45
R ±360 80 2989 500 Humidity [%] 20 – 80
b ±115 80 2989 500 Weight [ kg ] 2700
T ±360 172 1343 315 Power supply, average [ KVa ] 7.0
Mounting option: Floor
1 x Air
180°
180°
4 x M8,depth 15
R2942R821
R1371
445143.5
16.5
100
70
60
822 100
R1030
4 x M8,depth 15
2 x M8, depth 15
0
796
1164
1318
2942
0
1409
1498
22362401
1371
215
1849
2565
989
0
2683
922
900
14
Tube for Field bus Cable
900
1050
250
260
400
55°
61°
3001605500
113°
49°
18°
43°
113°R1420
202
(1674)
Working range Point P
P
B
C
A
609 680
222
D
Ø 12,depth 15
12 x M12,depth 25
Ø 250
15°9
Ø 16
0
Ø 3
15
AA
Tube for Field bus Cable
1 x Air4 x M4, depth 3
32
32 Internal user wiring connectorMedia connector
4 x 2 x Ø 22
550
540
5050
54050 50
786
2 x Ø 20
2 x Ø 16
290±
0.129
0±0.1
290±0.1 290±0.1
Internal user wiring connectorMedia connector
E
View a
allowable wrist load
mOTOman mH400 ii
View b
View C
View d
600 800 1000 1200 1400 1600 1800 2000
R-, T-axiscentre of rotation
B-axiscentre of rotation
LB
LT
P-point
1000
800
600
400
200
200 kg
150 kg
250 kg300 kg
400 kg350 kg
Handlind & assembly 59
yasKaWa HeadquartersYASKAWAEuropeGmbHRobotics Division Yaskawastraße 1D-85391 AllershausenTel. +49 (0)8166/90-0Fax +49 (0)8166/90-103
yasKaWa academy and sales office FrankfurtYASKAWAEuropeGmbHRobotics Division Hauptstraße 185D-65760 EschbornTel. +49 (0)6196/77725-0Fax +49(0)6196/77725-39
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SI YASKAWA SloveniaRibnica +386-1-8372-410
TR YASKAWA Turkey Elektrik Ticaret Ltd. Sti.İstanbul +90-216-5273450
ZA YASKAWASouthernAfrica(PTY)LtdJohannesburg +27-11-6083182
DISTRIBUTORSBG KammartonBulgariaLtd.
Sofia +359-02-926-6060
CH Messer Eutectic Castolin Switzerland S.A.Dällikon +41-44-847-17-17
DK Robotcenter DanmarkLøsning +45 7022 2477
EE RKR Seadmed OÜ Tallinn/Estonia +372-68-35-235
GR GizelisRoboticsNea Kifissia +30-2106251455
H Flexman Robotics KftBudapest+36-30-9510065
LT ProfibusUABPanevezys +370-45-518575
N Skala Robotech AS Lierstranda +47-32240600
PL Integrator RHC Sp. z o.o.Torun +48-56-6519710
PT ROBOPLANLdaAveiro +351-234 943 900
RO Sam Robotics srlTimisoara +40-720-279-866
RO MPL Automation S.R.L.SatuMare+40(0)261750741
All dimensions in mm | Technical data may be subject to change without previous notice | Please request detailed drawings at [email protected] – A-08-2015, A-No. 175209