multi-purpose robot motoman-mh and up...
TRANSCRIPT
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Certified forISO9001 andISO14001
JQA-EM0202JQA-0813R009QMS Accreditation
MOTOMAN-MH and UP SeriesMulti-Purpose Robot
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2
Best Performance in its class
Applicable in Severe Environments
High speed and high precision have been achieved by using high-speed, low-inertia AC servomotors and state-of-the-art control technology. A slimmer robot form has also been developed, while wrist allowable inertia has been increased.
The waterproof and dustproof structure (IP67 class level)*1 at the wrist part enables the robot to operate in environments subject to water drops and dust.
Total Solutions to Achieve Short Processing
Yaskawa builds optimum facilities with a complete lineup and the new DX200 robot controller.
SpaceSaveHardware
Manipulator
*1 : MH5S and MH5LS are available as options.
Energy
Line-up of Multi-purpose Robot
Robot Controller DX200
The DX200 is a low-fl oor robot controller developed with Yaskawa’s expertise acquired through the development of products for various applications. The amplifier for three external axes and other options that previously required attachment tools can now be housed inside a standard cabinet, reducing the required space for installation by up to 50%. The safety functions have been strengthened by improving the safety performance of the speed limiting function and tool switching monitoring function.
Installation space for
the control panel is
reduced by 50%.
5
0
10
15
20
100
200
300
400
500
1000 2000 3000 4000Maximum reach (mm)
Pay
load
( kg)
Applications
Payload
Maximum reach
1
2
Handling of small to large workpieces, assembly, machine tending*2, arc welding, spot welding, sealing and glue application, cutting workpieces, etc.
110kgR2236mm
1
2
20kgR3106mm
1
2
600kgR2942mm
1
2
400kgR2942mm
1
2
280kgR2446mm
1
2
225kgR2702mm
1
2
180kgR2702mm
1
2
24kgR1730mm
1
2
12kgR1440mm
1
2
5kgR706mm
1
2
5kgR895mm
1
2
80kgR2061mm
1
2
400kgR3518mm
1
2
MH600MH600MHMH600
MH400MH400
MH5SMH5S
UP400RDUP400RD
MH12MH12
MH24MH24
MH24-10MHMH2424--1010
MH180MH1800
MH180-120MHMH180180-120120
MH225MH225215kgR2912mm
1
2MH215MHM 215
250kgR2710mm
1
2MH250MHMH250250
MH5LSMH55LS
MH80MHH80
MH110MH110
MH280MH280
MH50 -20MHMH5050 --202050kgR2061mm
1
2
10kgR2010mm
1
2
120kgR3058mm
1
2
35kgR2538mm
1
2
MH50 -35MH50 -35MH50MH50
*2 : Loading and unloading for NC machine tools, die-casting, bending, injection molding presses, etc.
Structures, performance, and functions designed for optimum application help you downsize production facilities and save energy.
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3
Energysavings:
Approx.25%
Robot operation control On standby until next command
Operating status
Motor outputs
Brake
Timer
Motor outputs are shut off and brakes applied while the Robot is on standby.
Brakes are applied at a 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.
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.
Playback Path Confi rmation
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 confirmationat low speed
The servos are turned OFF automatically when the Robot is stopped for a long period of time. Reduced power consumption helps lower running costs.
New robotsolutions
Shortprocess
Customeradvantages
Minimized Area for Safety Fence Installation
Saving Energy
Optional
Virtual limitation area+Safety fenceSafety fence
Previous safety fence positionRobot motion area
Multiple limitation areas ( ) can be combined for monitoring, and it can shorten the time for setting.
A
A B C
B
B
C
Monitoring of the plain surface:Not to let the robot exceed the plain surface and the slanted ceiling.
C
Monitoring ofthe inside of area:Not to let therobot come outfrom an area.
Monitoring of the outside of area:Not to let the robot enter into an area.
A
B
Previously : A safety fence is requiredaround the robot motion area.
Safety Functions : Less space is necessary
Movements of the robot can be limited within an optimal range for the attached tool by monitoring positions of the robot and tool with the functional safety module equipped with two CPUs. With this function, the safety fence can be installed for an area that is smaller than the motion range of the robot, which reduces the required installation space for production equipment.
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4
Operability of teaching and simulation have been improved to reduce time required for system startup.
MOTOMAN continually strives to improve monitoring, troubleshooting, and structures to reduce maintenance and recovery time from failures.
Program operation can be checked while monitoring I/O or variables on the programming pendant so that teaching andtrial operation effi ciencywill 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
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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)
+0.01205 dia.(1 hole)
(Depth: 7)
+0.01206 dia.(2 holes)
+ 0.0
180
12
d
ia.
12 dia. (4 holes)(mounting holes)
+0.018012 dia.
(1 hole)
109 109
R235
R706
Tapped holes M4 (4 holes)(Depth: 8) (Pitch: 0.7)
Tapped holes M8 (4 holes)(Depth: 16) (Pitch: 1.25)
Tapped holes M4 (2 holes)(Depth: 8) (Pitch: 0.7)
87
298
423
40 25
110
170°
170°
5570
105 100±0.05
92± 0
.192
± 0.1
66±0.160±0.1
85± 0
.1
160
138 10
0±0.
0519
4
740
60
P-Point
S
L
U
R
B
T
255°
37°
233
0 15 235
706
277
501
114
88 80305
156
0
246
239
474
688
947
B
A
C
0
203
24351
136°
65°
150 °
310
330
40
178
31.5 dia.
160194
MOTOMAN-XX1235 kg payload, R706 mm maximum reach
Dimensions Units : mm : P-point Maximum Envelope
View C
Manipulator 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 : Also compatible with FS100 controller.For details, refer to the KAEP C940440 06 catalog.
Allowable Moment
R -axis (wrist roll) 12 N·mB -axis (wrist pitch/yaw) 12 N·mT -axis (wrist twist) 7 N·m
Allowable Inertia(GD2/4)
R -axis (wrist roll) 0.30 kg·m2
B -axis (wrist pitch/yaw) 0.30 kg·m2
T -axis (wrist twist) 0.1 kg·m2
Approx. Mass 27 kg
Ambientconditions
Temperature 0˚C to +45˚CHumidity 20% to 80%RH (non-condensing)
Vibration 4.9 m/s2 or less
Others Free from corrosive gas or liquid, or explosive gas or liquid Free from exposure to water, oil, or dust Free from excessive electrical noise (plasma)
Power Requirements*2 1.0 kVA
Model MOTOMAN-MH5S *3
Type YR-MH0005S-J00Controlled Axis 6 (Vertically articulated)
Payload 5 kgRepeatability*1 ±0.02 mm
Range ofMotion
S -axis (turning) −170˚ − +170˚L -axis (lower arm) −65˚ − +150˚U -axis (upper arm) −136˚ − +255˚R -axis (wrist roll) −190˚ − +190˚B -axis (wrist pitch/yaw) −135˚ − +135˚T -axis (wrist twist) −360˚ − +360˚
MaximumSpeed
S -axis (turning) 6.56 rad/s, 376˚/sL -axis (lower arm) 6.11 rad/s, 350˚/sU -axis (upper arm) 6.98 rad/s, 400˚/sR -axis (wrist roll) 7.85 rad/s, 450˚/sB -axis (wrist pitch/yaw) 7.85 rad/s, 450˚/sT -axis (wrist twist) 12.57 rad/s, 720˚/s
MOTOMAN-MH5S5 kg payload, R706 mm maximum reach
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6
Dimensions Units : mm : P-point Maximum Envelope
Manipulator Specifi cations
Note : SI units are used for specifi cations.
View B
View C
MOTOMAN-MH5LS
Connector for internal userI/O wiring harness: HR10A-10R-10P (73)Matching connector:HR10A-10P-10S*HIROSE*(provided by users)
12 dia. (4 holes)(mounting holes)
138
105 100±0.05
92± 0
.192
± 0.1
66±0.160±0.1
85± 0
.1
100±
0.05
160194
160
194
109 109
Air inletTapped holes PT1/4(with pipe plug)
45°31.5 dia.
Detaildrawing
Install attachmentsto this range
40 d
ia.
0.5
Tapped holes M5 (4 holes)(Depth: 9) (Pitch: 0.8)
5 (fitting depth)
R895
170°
2540
87
55
R267
110
70
398523
170°
Tapped holes M8 (4 holes)(Depth: 16) (Pitch: 1.25)
Tapped holes M4 (2 holes)(Depth: 8) (Pitch: 0.7)
Tapped holes M4 (4 holes)(Depth: 8) (Pitch: 0.7)
88
330
400
40
80
830
60
L
405
65° 150°
32°
138°
255°
A
B
C
0 14 288
317
209
B
S
T
RU
9681
400
267
0 895
341
132
98
503
1137
808
198
0
423
P-Point
+0.01205 dia.(1 hole)
(Depth: 7)
+ 0.0
180
12
d
ia.( D
epth
: 5)
+ 0.0
180
12
d
ia.
+0.01206 dia.(2 holes)
+0.018012 dia.
(1 hole)
View A
Model MOTOMAN-MH5LS *3
Type YR-MH005LS-J00Controlled Axis 6 (Vertically articulated)
Payload 5 kgRepeatability*1 ±0.03 mm
Range ofMotion
S -axis (turning) −170˚ − +170˚L -axis (lower arm) −65˚ − +150˚U -axis (upper arm) −138˚ − +255˚R -axis (wrist roll) −190˚ − +190˚B -axis (wrist pitch/yaw) −135˚ − +135˚T -axis (wrist twist) −360˚ − +360˚
MaximumSpeed
S -axis (turning) 4.71 rad/s, 270˚/sL -axis (lower arm) 4.89 rad/s, 280˚/sU -axis (upper arm) 5.24 rad/s, 300˚/sR -axis (wrist roll) 7.85 rad/s, 450˚/sB -axis (wrist pitch/yaw) 7.85 rad/s, 450˚/sT -axis (wrist twist) 12.57 rad/s, 720˚/s
Allowable Moment
R -axis (wrist roll) 12 N·mB -axis (wrist pitch/yaw) 12 N·mT -axis (wrist twist) 7 N·m
Allowable Inertia(GD2/4)
R -axis (wrist roll) 0.30 kg·m2
B -axis (wrist pitch/yaw) 0.30 kg·m2
T -axis (wrist twist) 0.1 kg·m2
Approx. Mass 29 kg
Ambientconditions
Temperature 0˚C to +45˚CHumidity 20% to 80%RH (non-condensing)
Vibration 4.9 m/s2 or less
Others Free from corrosive gas or liquid, or explosive gas or liquid Free from exposure to water, oil, or dust Free from excessive electrical noise (plasma)
Power Requirements*2 1.0 kVA
5 kg payload, R895 mm maximum reach
*1 : Conforms to ISO 9283.*2 : Varies in accordance with applications and motion patterns.*3 : Also compatible with FS100 controller.For details, refer to the KAEP C940440 06 catalog.
-
7
60
102± 0
.115
313
2±0.1
60260240 132±0.1300
260
292
300
100±0.1 102±0.1153±0.1
130±
0.1
18 dia. (4 holes)
22.5°
128
128
100
dia
.
5
4
100
dia
.
Tapped holes M4 (8 holes)(Depth: 8) (Pitch: 0.7)
56 dia.50
dia
.
Connector for internal userI/O wiring harness:JL05-2A20-29PC (with cap)Matching connector:JL05-6A20-29S (provided by users)
Air inlet PT3/8with pipe plug (A)
199 94.5
198.5
450
614
200
100 155 640 100
84
705
777
2511
0
410
144020
6
1129 0
1734
299
361
90°
175°
155°
85°
848
606
240°
B
T
RU
L
S
P-point
A
B
C
45 475
R410 R14
40
2613
170°
170°13
0
60
Tapped holes M6 (4 holes)(Depth: 14) (Pitch: 1.0)
+0.01204 dia.(1 hole)
(Depth: 6)
0 -0.0
1962
dia
.( D
epth
: 5)
0 -0.0
1962
dia
.
Detaildrawing
Install attachmentsto this range
+0.018016 dia.
(2 holes)+0.018
012 dia.(1 hole)
Tapped holes M6(2 holes)(Depth: 12)(Pitch: 1.0)
Dimensions Units : mm : P-point Maximum Envelope
Manipulator Specifi cations
Note : SI units are used for specifi cations.
View C
View A
*1 : Conforms to ISO 9283.*2 : Varies in accordance with applications and motion patterns.*3 : Also compatible with FS100 controller.For details, refer to the KAEP C940440 06 catalog.
Model MOTOMAN-MH12*3
Type YR-MA1440/MH12-A00Controlled Axis 6 (Vertically articulated)
Payload 12 kgRepeatability*1 ±0.08 mm
Range ofMotion
S -axis (turning) −170˚ − +170˚L -axis (lower arm) −90˚ − +155˚U -axis (upper arm) −175˚ − +240˚R -axis (wrist roll) −180˚ − +180˚B -axis (wrist pitch/yaw) −135˚ − +135˚T -axis (wrist twist) −360˚ − +360˚
MaximumSpeed
S -axis (turning) 3.84 rad/s, 220˚/sL -axis (lower arm) 3.49 rad/s, 200˚/sU -axis (upper arm) 3.84 rad/s, 220˚/sR -axis (wrist roll) 7.16 rad/s, 410˚/sB -axis (wrist pitch/yaw) 7.16 rad/s, 410˚/sT -axis (wrist twist) 10.60 rad/s, 610˚/s
Allowable Moment
R -axis (wrist roll) 22 N·mB -axis (wrist pitch/yaw) 22 N·mT -axis (wrist twist) 9.8 N·m
Allowable Inertia(GD2/4)
R -axis (wrist roll) 0.65 kg·m2
B -axis (wrist pitch/yaw) 0.65 kg·m2
T -axis (wrist twist) 0.17 kg·m2
Approx. Mass 130 kg
Ambientconditions
Temperature 0˚C to +45˚CHumidity 20% to 80%RH (non-condensing)
Vibration 4.9 m/s2 or less
Others Free from corrosive gas or liquid, or explosive gas or liquid Free from exposure to water, oil, or dust Free from excessive electrical noise (plasma)
Power Requirements*2 1.5 kVA
MOTOMAN-MH12
View B
12 kg payload, R1440 mm maximum reach
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8
Dimensions Units : mm : P-point Maximum Envelope
Manipulator Specifi cations
22.5°
128
128
4
5
Tapped holes M4 (8 holes)(Depth: 8) (Pitch: 0.7)
Install attachmentsto this range
Detaildrawing
56 dia.
50 di
a.
100
dia.
100
dia.
Connector for internal userI/O wiring harness:JL05-2A20-29PC (with cap)Matching connector:JL05-6A20-29S (provided by users)
Air inlet PT3/8with pipe plug
60316
± 0.1
200
260 ±0.1
170
± 0.1
375
335
200
60
±0.1
292
375335
18 dia.(4 holes)
180°
180°
182
630
7016813
0
100
1545
2613
R316
R1730
85.5
96.5
R406
Tapped holes M6 (2 holes)(Depth: 12) (Pitch: 1.0)
Tapped holes M6 (4 holes)(Depth: 12) (Pitch: 1.0)
Tapped holes M6 (4 holes)(Depth: 14) (Pitch: 1.0)
L
R
505
760
480
311
1074
200
150114
795 100
240°
105° 155°
170°
1004
1730
519
0
343
761
2085
0
0
1430
1024 80
887
6
694
277
348
406
120
84
100
S
U B
102
281
281
T
A
CB
P-Point
+0.01204 dia.(1 hole)
(Depth: 6)
0 -0.019
62
dia.
0 -0.0
1962
dia
.( 1
hol
e)( D
epth
: 5)
+0.018012 dia.
(2 holes)C5
Mount objectsto this range
139
229266495
50405
135
View C
View A
Note : SI units are used for specifi cations.
*1 : Conforms to ISO 9283.*2 : Varies in accordance with applications and motion patterns.
MOTOMAN-MH24
View B
24 kg payload, R1730 mm maximum reach
Model MOTOMAN-MH24Type YR-MH00024-A00Controlled Axis 6 (Vertically articulated)
Payload 24 kgRepeatability*1 ±0.06 mm
Range ofMotion
S -axis (turning) −180˚ − +180˚L -axis (lower arm) −105˚ − +155˚U -axis (upper arm) −170˚ − +240˚R -axis (wrist roll) −200˚ − +200˚B -axis (wrist pitch/yaw) −150˚ − +150˚T -axis (wrist twist) −455˚ − +455˚
MaximumSpeed
S -axis (turning) 3.44 rad/s, 197˚/sL -axis (lower arm) 3.32 rad/s, 190˚/sU -axis (upper arm) 3.67 rad/s, 210˚/sR -axis (wrist roll) 7.16 rad/s, 410˚/sB -axis (wrist pitch/yaw) 7.16 rad/s, 410˚/sT -axis (wrist twist) 10.82 rad/s, 620˚/s
Allowable Moment
R -axis (wrist roll) 50.0 N·mB -axis (wrist pitch/yaw) 50.0 N·mT -axis (wrist twist) 30.4 N·m
Allowable Inertia(GD2/4)
R -axis (wrist roll) 2.1 kg·m2
B -axis (wrist pitch/yaw) 2.1 kg·m2
T -axis (wrist twist) 1.1 kg·m2
Approx. Mass 268 kg
Ambientconditions
Temperature 0˚C to +45˚CHumidity 20% to 80%RH (non-condensing)
Vibration 4.9 m/s2 or less
Others Free from corrosive gas or liquid, or explosive gas or liquid Free from exposure to water, oil, or dust Free from excessive electrical noise (plasma)
Power Requirements*2 2.0 kVA
-
9
9585
R2010917
70168
100
1545
2613
130
70165
R561
180
R316
180°
180°5
4
22.5°
170±
0.1
260±0.1
375
335
200±0.1
60
375
335
31660
56 di
a.
62
d
ia.
(1
hole)
(D
epth
: 5)
Install attachments tothis range
Tapped holes M4 (8 holes) (Depth: 8) (Pitch: 0.7)
50 di
a.
100 d
ia.
100
dia
.
Detail drawing
Position of the internal connector main key
Connector for internal user I/O wiring harness:JL05-2A20-29PC (with cap)Matching connector: JL05-6A20-29S(provided by users)
Air inlet PT3/8with pipe plug (A)
Tapped holes M6 (2 holes) (Depth: 12) (Pitch: 1.0)
Tapped holes M6 (4 holes) (Depth: 12) (Pitch: 1.0)
Tapped holes M6 (4 holes)(Depth: 14) (Pitch: 1.0)
18 dia.(4 holes)
+0.01204 dia.(1 hole)
(Depth: 6)
+0.018012 dia.
(2 holes)C5
200±
0.1
292
0 -0.019
62
dia.
0 -0.0
19
139
50
405
266 229
135
495
P点
1710
559 56
1
2010
0
1284
568
0
199
850
2365
374
425
1041
170°
3649
155°
105°
505
760
200
100
281
84
114150
8814
1001082
86°
1287
951
1309
729
0
87.5°
476
580538
839
792
250°
1256
T
ABRU
CB S
L
Mount objectsto this range
P-Point
Dimensions Units : mm : P-point Maximum Envelope
Manipulator Specifi cations
View C
*1 : Conforms to ISO 9283.*2 : Varies in accordance with applications and motion patterns.
Allowable Moment
R -axis (wrist roll) 22 N·mB -axis (wrist pitch/yaw) 22 N·mT -axis (wrist twist) 9.8 N·m
Allowable Inertia(GD2/4)
R -axis (wrist roll) 0.65 kg·m2
B -axis (wrist pitch/yaw) 0.65 kg·m2
T -axis (wrist twist) 0.17 kg·m2
Approx. Mass 280 kg
Ambientconditions
Temperature 0˚C to +45˚CHumidity 20% to 80%RH (non-condensing)
Vibration 4.9 m/s2 or less
Others Free from corrosive gas or liquid, or explosive gas or liquid Free from exposure to water, oil, or dust Free from excessive electrical noise (plasma)
Power Requirements*2 2.0 kVA
Model MOTOMAN-MH24-10Type YR-MH00024-A10Controlled Axis 6 (Vertically articulated)
Payload 10 kgRepeatability*1 ±0.08 mm
Range ofMotion
S -axis (turning) −180˚ − +180˚L -axis (lower arm) −105˚ − +155˚U -axis (upper arm) −170˚ − +250˚R -axis (wrist roll) −200˚ − +200˚B -axis (wrist pitch/yaw) −135˚ − +135˚T -axis (wrist twist) −455˚ − +455˚
MaximumSpeed
S -axis (turning) 3.44 rad/s, 197˚/sL -axis (lower arm) 3.32 rad/s, 190˚/sU -axis (upper arm) 3.67 rad/s, 210˚/sR -axis (wrist roll) 7.16 rad/s, 410˚/sB -axis (wrist pitch/yaw) 7.16 rad/s, 410˚/sT -axis (wrist twist) 10.60 rad/s, 610˚/s
View B
View A
Note : SI units are used for specifi cations.
MOTOMAN-MH24-1010 kg payload, R2010mm maximum reach
-
10
Manipulator Specifi cations
Dimensions Units : mm : P-point Maximum Envelope
4042
400230
280
455
385
320
195±
0.1
153230±0.1195±0.1455
608
195±
0.1
230±
0.1
195±0.1
80 di
a.Tapped holes M8 (6 holes)(Depth: 14) (Pitch: 1.25)
22 dia. (8 holes)
611.5 200R3
77R543
5050R206
1
Tapped holes M8 (4 holes)(Depth: 16) (Pitch: 1.25)
180˚
180˚
+0.018012 dia.
(2 holes)
6
8
32
32
Cover for fieldbus cable(I.D12 dia. ) (in base)
Connector for internal userI/O wiring harness:JL05-2A24-28PC (with cap)Matching connector:JL05-6A24-28S (provided by users)
Air inlet PT3/8with pipe plug
343 253
234 234
Connector for internal userI/O wiring harness:JL05-2A24-28SC (with cap)Matching connector:JL05-6A24-28P(provided by users)
Air exhaust PT3/8with pipe plug
57
105 1050118
1369
453
3578
3832
145 1751025
187
540
870
210
1807
0
543
53087213
605
1056
1771 24
8
2061
170˚
0
437
925
2456
460
1121
90˚
135˚
120˚
55˚
S
C
B
L
A
Tube for fieldbus cable (I.D12 dia. ) (in base)
B
T
RU
Tapped holes M12 (4 holes)(Depth: 20) (Pitch: 1.75)
P-point
Tapped holes M4(4 holes)(Depth: 3)(Pitch: 0.7)
+ 0.0
250
50
d
ia.
0 -0.0
2210
0
d
ia.
+0.01206 dia.(1 hole)
(Depth: 10)
+0.01508 dia.(1 hole)
(Depth: 14)
View C
View B
View A
Model MOTOMAN-MH50Type YR-MH00050-J00Controlled Axis 6 (Vertically articulated)
Payload 50 kgRepeatability*1 ±0.07 mm
Range ofMotion
S -axis (turning) −180˚ − +180˚L -axis (lower arm) −90˚ − +135˚U -axis (upper arm) −170˚ − +251˚R -axis (wrist roll) −360˚ − +360˚B -axis (wrist pitch/yaw) −125˚ − +125˚T -axis (wrist twist) −360˚ − +360˚
MaximumSpeed
S -axis (turning) 3.14 rad/s, 180˚/sL -axis (lower arm) 3.11 rad/s, 178˚/sU -axis (upper arm) 3.11 rad/s, 178˚/sR -axis (wrist roll) 4.36 rad/s, 250˚/sB -axis (wrist pitch/yaw) 4.36 rad/s, 250˚/sT -axis (wrist twist) 6.28 rad/s, 360˚/s
Allowable Moment
R -axis (wrist roll) 216 N·mB -axis (wrist pitch/yaw) 216 N·mT -axis (wrist twist) 147 N·m
Allowable Inertia(GD2/4)
R -axis (wrist roll) 28 kg·m2
B -axis (wrist pitch/yaw) 28 kg·m2
T -axis (wrist twist) 11 kg·m2
Approx. Mass 550 kg
Ambientconditions
Temperature 0˚C to +45˚CHumidity 20% to 80%RH (non-condensing)
Vibration 4.9 m/s2 or less
Others Free from corrosive gas or liquid, or explosive gas or liquid Free from exposure to water, oil, or dust Free from excessive electrical noise (plasma)
Power Requirements*2 4.0 kVA
Note : SI units are used for specifi cations.
*1 : Conforms to ISO 9283.*2 : Varies in accordance with applications and motion patterns.
MOTOMAN-MH5050 kg payload, R2061mm maximum reach
-
11
Dimensions Units : mm : P-point Maximum Envelope
Manipulator Specifi cations
195±
0.1
234 234
349 253
608
153 455
230
280
455
Connector for internal userI/O wiring harness:JL05-2A24-28SC (with cap)Matching connector:JL05-6A24-28P(provided by users)
Air exhaust PT3/8with pipe plug
195±
0.1
230±
0.1
195±0.1
195±0.1 230±0.1
22 dia.(8 holes)
320
385
400
+0.018012 dia.
(2 holes)
60.5
6
45˚
40 dia.
Tapped holes M6 (4 holes)(Depth: 10) (Pitch: 1.0)
AIR
1BC
2BC
32
32
Tapped holes M4 (4 holes)(Depth: 3) (Pitch: 0.7)
Connector for internal userI/O wiring harness:JL05-2A24-28PC (with cap)Matching connector:JL05-6A24-28S (provided by users)
Cover for fieldbus cable(I.D12 dia.) (in base)
Air inlet PT3/8with pipe plug
4022
3.5
105105
10˚
65˚
25˚
206˚
71˚
90˚
45˚
135˚
160˚
100
200
1150
540
1990
55
1051800145
3501
1050
2070
208
0
5585
414
12271077
3106
2084
923
733
358036
5922
665
1065
1402
2816
1396
L
A
B
C
S
Tube for fieldbus cable (I.D12 dia.) (in base)Tube for fieldbus cable (I.D12 dia.) (in base)
B
T
RU
P-point
Tapped holes M12 (4 holes)(Depth: 20) (Pitch: 1.75)
R377
R923
400661.5
30
80
12028.5
R3106
180˚
180˚
Tube for fieldbus cable(I.D12 dia.)(in protective tubing)
Tapped holes M8 (4 holes)(Depth: 15) (Pitch: 1.25)
Tapped holes M8 (4 holes)(Depth: 16) (Pitch: 1.25)
0 -0.0
3950
dia
.
+ 0.0
210
25
d
ia.
+0.01206 dia.
(1 hole)(Depth: 6)
View C
*1 : Conforms to ISO 9283.*2 : Varies in accordance with applications and motion patterns.
Allowable Moment
R -axis (wrist roll) 39.2 N·mB -axis (wrist pitch/yaw) 39.2 N·mT -axis (wrist twist) 19.6 N·m
Allowable Inertia(GD2/4)
R -axis (wrist roll) 1.05 kg·m2
B -axis (wrist pitch/yaw) 1.05 kg·m2
T -axis (wrist twist) 0.75 kg·m2
Approx. Mass 495 kg
Ambientconditions
Temperature 0˚C to +45˚CHumidity 20% to 80%RH (non-condensing)
Vibration 4.9 m/s2 or less
Others Free from corrosive gas or liquid, or explosive gas or liquid Free from exposure to water, oil, or dust Free from excessive electrical noise (plasma)
Power Requirements*2 3.5 kVA
Model MOTOMAN-MH50 -20Type YR-MH00050-J10Controlled Axis 6 (Vertically articulated)
Payload 20 kgRepeatability*1 ±0.15 mm
Range ofMotion
S -axis (turning) −180˚ − +180˚L -axis (lower arm) −90˚ − +135˚U -axis (upper arm) −160˚ − +251˚R -axis (wrist roll) −190˚ − +190˚B -axis (wrist pitch/yaw) −50˚ − +230˚T -axis (wrist twist) −360˚ − +360˚
MaximumSpeed
S -axis (turning) 3.14 rad/s, 180˚/sL -axis (lower arm) 3.11 rad/s, 178˚/sU -axis (upper arm) 3.11 rad/s, 178˚/sR -axis (wrist roll) 6.98 rad/s, 400˚/sB -axis (wrist pitch/yaw) 6.98 rad/s, 400˚/sT -axis (wrist twist) 10.47 rad/s, 600˚/s
20 kg payload, R3106mm maximum reach
View B
View A
MOTOMAN-MH50 -20
Note : SI units are used for specifi cations.
-
12
Dimensions Units : mm : P-point Maximum Envelope
Manipulator Specifi cations
A
B
C
Air exhaust PT3/8with pipe plug
2248 165 428
160°
1516
889
2538
229
0
4448
1549
960
P-point
2933135°
45°
540
1150
210
187
1225 175145
253343
234234
10°
121279 513 565
65°
80°
2087
57
L
U R B T Connector for internal userI/O wiring harness:JL05-2A24-28PC (with cap)Matching connector:JL05-6A24-28S (provided by users)
Connector for internal userI/O wiring harness:JL05-2A24-28SC (with cap)Matching connector:JL05-6A24-28P(provided by users)
Tapped holes M12 (4 holes)(Depth: 20) (Pitch: 1.75)
105 105
223.
5400
1549
126
625
120°
90°
109°
8691436
Air inlet PT3/8with pipe plug
Tapped holes M4 (4 holes)(Depth: 3) (Pitch: 0.7)
32
32
Tapped holes M4 (4 holes)(Depth: 3) (Pitch: 0.7)
8
80 dia.
4240
Tapped holes M8 (6 holes)(Depth: 14)(Pitch: 1.25)
T-axis alignment mark
6
Cover for fieldbus cable(I.D12 dia. )(in base)
ϕTube for fieldbus cable(I.D12 dia. )(in base)
SS
+ 0.0
250
50
d
ia.
0 -0.0
2210
0
d
ia.
+0.01206 dia.(1 hole)
(Depth: 10)
+0.01508 dia.
(1 hole)(Depth: 14)
+0.018012 dia.
(2 hole)Tapped holes M12 (4 holes)(Depth: 20) (Pitch: 1.75)
Tapped holes M12 (4 holes)(Depth: 20) (Pitch: 1.75)
Tube for fieldbus cable(I.D12 dia. )(in base)
230400
195±0.1 230±0.1
195±0.119
5±0.
1320
385
230±
0.1
195±
0.1
455
608455153
280
22 dia.(8 holes)
R2538
50 50
200811.5
R56
5Tube for fieldbuscable (I.D12 dia. )(in protective tubing)
180˚
180˚
50
Tapped holes M8 (4 holes)(Depth: 16) (Pitch: 1.25)
View C
*1 : Conforms to ISO 9283.*2 : Varies in accordance with applications and motion patterns.
View B
View A
Allowable Moment
R -axis (wrist roll) 147 N·mB -axis (wrist pitch/yaw) 147 N·mT -axis (wrist twist) 78 N·m
Allowable Inertia(GD2/4)
R -axis (wrist roll) 10 kg·m2
B -axis (wrist pitch/yaw) 10 kg·m2
T -axis (wrist twist) 4 kg·m2
Approx. Mass 570 kg
Ambientconditions
Temperature 0˚C to +45˚CHumidity 20% to 80%RH (non-condensing)
Vibration 4.9 m/s2 or less
Others Free from corrosive gas or liquid, or explosive gas or liquid Free from exposure to water, oil, or dust Free from excessive electrical noise (plasma)
Power Requirements*2 4.0 kVA
Model MOTOMAN-MH50 -35Type YR-MH00050-J20Controlled Axis 6 (Vertically articulated)
Payload 35 kgRepeatability*1 ±0.07 mm
Range ofMotion
S -axis (turning)−180˚ − +180˚
(−30˚ − +30˚ when mounted on the wall)L -axis (lower arm) −90˚ − +135˚U -axis (upper arm) −160˚ − +251˚R -axis (wrist roll) −360˚ − +360˚B -axis (wrist pitch/yaw) −125˚ − +125˚T -axis (wrist twist) −360˚ − +360˚
MaximumSpeed
S -axis (turning) 3.14 rad/s, 180˚/sL -axis (lower arm) 2.44 rad/s, 140˚/sU -axis (upper arm) 3.11 rad/s, 178˚/sR -axis (wrist roll) 4.36 rad/s, 250˚/sB -axis (wrist pitch/yaw) 4.36 rad/s, 250˚/sT -axis (wrist twist) 6.28 rad/s, 360˚/s
35 kg payload, R2538mm maximum reach
MOTOMAN-MH50 -35
Note : SI units are used for specifi cations.
-
13
230
320
385
455
608
455153
280
195±0.1
195±0.1195±
0.1
195±
0.1
230±
0.1
230±0.1
22 dia.(8 holes)
400
Tapped holes M8 (6 holes)(Depth: 14) (Pitch: 1.25)
Cover for fieldbus cable(I.D12 dia. )(in base)
32
32
Air inlet PT3/8with pipe plug
Connector for internal userI/O wiring harness:JL05-2A24-28PC (with cap)Matching connector:JL05-6A24-28S (provided by users)
265
234234
199
343
Tapped holes M4(4 holes)(Depth: 3)(Pitch: 0.7)
Air exhaust PT3/8with pipe plug
Connector for internal userI/O wiring harness:JL05-2A24-28SC (with cap)Matching connector:JL05-6A24-28P(provided by users)
210
870
540
187
1807
87213
605
1056
1771 24
8
530
543
2061
3832
0
145 1025 175
437
925
2456
460
1121
3578
0118
1369
453
0105 105
57
L
B
C
S
A
135˚
90˚
120˚
170˚
55˚
B
T
RU
P-point
Tapped holes M12 (4 holes)(Depth: 20) (Pitch: 1.75)
R543
R2061
50 50
200611.5R3
77
180˚
180˚Tube for fieldbus cable (I.D12 dia. )(in protective tubing)
Tapped holes M8 (4 holes)(Depth: 16) (Pitch: 1.25)
+ 0.0
250
50
d
ia.
0 -0.0
2210
0
d
ia.
+0.01206 dia.(1 hole)
(Depth: 10)
+0.018012 dia.
(2 holes)
+0.01508 dia.
(1 hole)(Depth: 14)
Tube for fieldbus cable(I.D12 dia. )(in base)Tube for fieldbus cable(I.D12 dia. )(in base)
8
80 dia.
4240 T-axis
alignment mark
6
Dimensions Units : mm : P-point Maximum Envelope
Manipulator Specifi cations
View C
View B
View A
Allowable Moment
R -axis (wrist roll) 392 N·mB -axis (wrist pitch/yaw) 392 N·mT -axis (wrist twist) 196 N·m
Allowable Inertia(GD2/4)
R -axis (wrist roll) 28 kg·m2
B -axis (wrist pitch/yaw) 28 kg·m2
T -axis (wrist twist) 11 kg·m2
Approx. Mass 555 kg
Ambientconditions
Temperature 0˚C to +45˚CHumidity 20% to 80%RH (non-condensing)
Vibration 4.9 m/s2 or less
Others Free from corrosive gas or liquid, or explosive gas or liquid Free from exposure to water, oil, or dust Free from excessive electrical noise (plasma)
Power Requirements*2 4.5 kVA
Model MOTOMAN-MH80Type YR-MH00080-J00Controlled Axis 6 (Vertically articulated)
Payload 80 kgRepeatability*1 ±0.07 mm
Range ofMotion
S -axis (turning) −180˚ − +180˚L -axis (lower arm) −90˚ − +135˚U -axis (upper arm) −170˚ − +251˚R -axis (wrist roll) −360˚ − +360˚B -axis (wrist pitch/yaw) −125˚ − +125˚T -axis (wrist twist) −360˚ − +360˚
MaximumSpeed
S -axis (turning) 2.97 rad/s, 170˚/sL -axis (lower arm) 2.44 rad/s, 140˚/sU -axis (upper arm) 2.79 rad/s, 160˚/sR -axis (wrist roll) 4.01 rad/s, 230˚/sB -axis (wrist pitch/yaw) 4.01 rad/s, 230˚/sT -axis (wrist twist) 6.11 rad/s, 350˚/s
80 kg payload, R2061mm maximum reach
MOTOMAN-MH80
*1 : Conforms to ISO 9283.*2 : Varies in accordance with applications and motion patterns.Note : SI units are used for specifi cations.
-
14
45°
B
200320 1020
385
22dia.(8 holes)
S
T
6092
16
246
4512
.5
27.5
185°
160°
195±
0.1
R2236
90°
155°
10098.5
280
153 455
608
455
230±
0.1
320
195±
0.1
195±0.1
230±0.1195±0.1
230
235
870
540
L
RU
400
Tapped holes M8 (4 holes)(Depth: 16)
Tapped holes M8 (4 holes)(Depth: 14)
Tapped holes M5 (2 holes)(Depth: 9)
Tapped holes M 6(2 holes)(Depth: 11)
R491
966
394
1016
0
0
3773153
6
1482 34
9
414
543
740
2236
3751
2456
949
185
1295
0
Air 4KQE12-04
27
27
Key Position
Air 1KQE12-04
Air 3KQE12-04
Air 2KQE12-04
Air (5)KQE12-03
Connector for DeviceNet:CM02-8DR5P-CFMatching connector: CM02A-8DP5S-D (provided by users)
Connector for +24V:CM03A-R4P-S-1Matching connector: CM03-P4S (provided by users)
Internal user wiring connector:JL05-2A24-28PC (with cap)Matching connector: JL05-6A24-28S (provided by users)
Cover for fieldbus cable(I.D12 dia. )(in base)Tapped holes M3 (4 holes)(Depth: 3.2)
C
B
A
Tapped holes M10(10 holes)(Depth: 15)
16
7
125 dia.
P-Point
For the external axis (power cable):JL05-2A18-1SC-F0 (with cap)Matching connector:JL05-6A18-1P(provided by users)
Air 1KQE12-03
Air 2KQE12-03
Connector for internal user I/O wiring harness(casing side):JL05-2A24-28SC (with cap)Matching connector:JL05-6A24-28P (provided by users)
Air (5)KQE12-03
Air 3KQE12-03
Connector for DeviceNet:8R5L30Matching connector:8A5006-32DN (provided by users)
Key position
Air 4KQE12-03
257
256
546
289
Connector for theexternal axis (power cable):JL05-2A20-29SC(with cap)Matching connector:JL05-6A20-29P (provided by users)
Connector for +24V: 1R4030Matching connector: CM03-J4P (provided by users)
+ 0.0
250
31.5
dia
.
0 -0.0
2514
5
d
ia.
+0.015010 dia.(2 holes)
(Depth: 15)
+0.018012 dia.(2 holes)
Manipulator Specifi cations
Dimensions Units : mm : P-point Maximum Envelope
View C
View B
View A
Allowable Moment
R -axis (wrist roll) 721 N·mB -axis (wrist pitch/yaw) 721 N·mT -axis (wrist twist) 294 N·m
Allowable Inertia(GD2/4)
R -axis (wrist roll) 60 kg·m2
B -axis (wrist pitch/yaw) 60 kg·m2
T -axis (wrist twist) 33.7 kg·m2
Approx. Mass 625 kg
Ambientconditions
Temperature 0˚C to +45˚CHumidity 20% to 80%RH (non-condensing)
Vibration 4.9 m/s2 or less
Others Free from corrosive gas or liquid, or explosive gas or liquid Free from exposure to water, oil, or dust Free from excessive electrical noise (plasma)
Power Requirements*2 5.0 kVA
Model MOTOMAN-MH110Type YR-MS100/MH110-A00Controlled Axis 6 (Vertically articulated)
Payload 110 kgRepeatability*1 ±0.07 mm
Range ofMotion
S -axis (turning) −180˚ − +180˚L -axis (lower arm) −90˚ − +155˚U -axis (upper arm) −185˚ − +160˚R -axis (wrist roll) −360˚ − +360˚B -axis (wrist pitch/yaw) −125˚ − +125˚T -axis (wrist twist) −360˚ − +360˚
MaximumSpeed
S -axis (turning) 2.45 rad/s, 140˚/sL -axis (lower arm) 1.92 rad/s, 110˚/sU -axis (upper arm) 2.27 rad/s, 130˚/sR -axis (wrist roll) 3.05 rad/s, 175˚/sB -axis (wrist pitch/yaw) 3.05 rad/s, 175˚/sT -axis (wrist twist) 4.44 rad/s, 255˚/s
110 kg payload, R2236 mm maximum reach
MOTOMAN-MH110
*1 : Conforms to ISO 9283.*2 : Varies in accordance with applications and motion patterns.Note : SI units are used for specifi cations.
-
15
Dimensions Units : mm : P-point Maximum Envelope
Manipulator Specifi cations
Connector for internal userI/O wiring harness (base side):JL05-2A24-28PC (with cap)Matching connector: JL05-6A24-28S(provided by users)
Air inlet Rc3/8with pipe plug
R2702
R713
27.5 12
.545
120
344 9216 60
Tapped holes M8 (4 holes)(Depth: 14) Tapped holes M5 (2 holes)(Depth: 9)
Tapped holes M6 (2 holes)(Depth: 11)
Tapped holes M8 (4 holes)(Depth: 14)
R515
255 40
Tapped holes M10(6 holes)(Depth: 14)
Tapped holes M10(6 holes)(Depth: 14)
8
8
30°
125 dia.
92 dia.
320
420
500
290450
295±0.1
250±
0.1
185±
0.1
185±
0.1
420500
344
276 349
220
230±0.1 230±0.1
(275)
22 dia. (8 holes)
1225 225
650
300
2702
R2411
60°
76°
19°
4°
147°
90°
970
3061
928
332
598
957
577
144156
20
762
713
709
407
90
2450
0
153
B
C
A
S
L
Tube for fieldbus cable(I.D12 dia. )(in base)
325
1150
2253
B
T
RU
Tube for fieldbus cable (I.D12 dia. )(on S-head)
P-point
+ 0.0
300
63
d
ia.
+0.015010 dia.
(2 holes)(Depth: 8)
+0.021020 dia.
(2 holes)
+0.01509 dia.
(2 holes)(Depth: 8)
0 -0.0
2516
0
d
ia.
View C
View B
Allowable Moment
R -axis (wrist roll) 1000 N·mB -axis (wrist pitch/yaw) 1000 N·mT -axis (wrist twist) 618 N·m
Allowable Inertia(GD2/4)
R -axis (wrist roll) 90 kg·m2
B -axis (wrist pitch/yaw) 90 kg·m2
T -axis (wrist twist) 46.3 kg·m2
Approx. Mass 970 kg
Ambientconditions
Temperature 0˚C to +45˚CHumidity 20% to 80%RH (non-condensing)
Vibration 4.9 m/s2 or less
Others Free from corrosive gas or liquid, or explosive gas or liquid Free from exposure to water, oil, or dust Free from excessive electrical noise (plasma)
Power Requirements*2 5.0 kVA
Model MOTOMAN-MH180Type YR-MS165/MH180-A00Controlled Axis 6 (Vertically articulated)
Payload 180 kgRepeatability*1 ±0.2 mm
Range ofMotion
S -axis (turning) −180˚ − +180˚L -axis (lower arm) −60˚ − +76˚U -axis (upper arm) −147˚ − +90˚R -axis (wrist roll) −360˚ − +360˚B -axis (wrist pitch/yaw) −130˚ − +130˚T -axis (wrist twist) −360˚ − +360˚
MaximumSpeed
S -axis (turning) 2.18 rad/s, 125˚/sL -axis (lower arm) 2.01 rad/s, 115˚/sU -axis (upper arm) 2.18 rad/s, 125˚/sR -axis (wrist roll) 3.18 rad/s, 182˚/sB -axis (wrist pitch/yaw) 3.05 rad/s, 175˚/sT -axis (wrist twist) 4.63 rad/s, 265˚/s
180 kg payload, R2702 mm maximum reach
View A
MOTOMAN-MH180
*1 : Conforms to ISO 9283.*2 : Varies in accordance with applications and motion patterns.Note : SI units are used for specifi cations.
-
16
Manipulator Specifi cations
Dimensions Units : mm : P-point Maximum Envelope
1BC
(275) 344
276 349
220
125 dia.
92 dia.
8
8
266
30°
22 dia.(8 holes)
Connector for internal user I/O wiring harness:JL05-2A24-28PC (with cap)Matching connector: JL05-6A24-28S(provided by users)
Tapped holes M10(6 holes)(Depth: 14)Tapped holes M10(6 holes)(Depth: 14)
Air inlet Rc3/8with pipe plug
735
3416
689
2815
142°
1440
372
889
908
234
928797
287
320
420
500
290450
420500
27.5
12.5
45
120
255 40
344 9216 60
1590
300
3058
60°
76°
4°
90°
1150
970
2253
153
225
R3058
R90824°
R51
5
R2766
325325
650
82
230±0.1295±0.1
250±
0.1
185±
0.118
5±0.1
230±0.1
B
C
A
S
L
B
T
RU
P-Point
Tube for fieldbus cable(I.D12 dia. )(in base)
Tapped holes M8(4 holes) (Depth: 14)
Tapped holes M8(4 holes)(Depth: 14)
Tapped holes M5(2 holes) (Depth: 9)Tapped holes M6(2 holes) (Depth: 11)
Tube for fieldbus cable (I.D12 dia. )(on S-head)
+ 0.0
300
63
d
ia.
+0.015010 dia.
(2 holes)(Depth: 8)+0.015
09 dia.(2 holes)(Depth: 8)
0 -0.0
2516
0
d
ia.
+0.021020 dia.
(2 holes)
View C
View B
View A
Allowable Moment
R -axis (wrist roll) 883 N·mB -axis (wrist pitch/yaw) 883 N·mT -axis (wrist twist) 520 N·m
Allowable Inertia(GD2/4)
R -axis (wrist roll) 79 kg·m2
B -axis (wrist pitch/yaw) 79 kg·m2
T -axis (wrist twist) 40 kg·m2
Approx. Mass 1010 kg
Ambientconditions
Temperature 0˚C to +45˚CHumidity 20% to 80%RH (non-condensing)
Vibration 4.9 m/s2 or less
Others Free from corrosive gas or liquid, or explosive gas or liquid Free from exposure to water, oil, or dust Free from excessive electrical noise (plasma)
Power Requirements*2 5.0 kVA
Model MOTOMAN-MH180-120Type YR-MS165/MH180-A10Controlled Axis 6 (Vertically articulated)
Payload 120 kgRepeatability*1 ±0.2 mm
Range ofMotion
S -axis (turning) −180˚ − +180˚L -axis (lower arm) −60˚ − + 76˚U -axis (upper arm) −142˚ − + 90˚R -axis (wrist roll) −360˚ − +360˚B -axis (wrist pitch/yaw) −130˚ − +130˚T -axis (wrist twist) −360˚ − +360˚
MaximumSpeed
S -axis (turning) 2.18 rad/s, 125˚/sL -axis (lower arm) 2.01 rad/s, 115˚/sU -axis (upper arm) 2.18 rad/s, 125˚/sR -axis (wrist roll) 3.18 rad/s, 182˚/sB -axis (wrist pitch/yaw) 3.05 rad/s, 175˚/sT -axis (wrist twist) 4.63 rad/s, 265˚/s
*1 : Conforms to ISO 9283.*2 : Varies in accordance with applications and motion patterns.Note : SI units are used for specifi cations.
MOTOMAN-MH180-120120 kg payload, R3058 mm maximum reach
-
17
B
T
RU
Tapped holes M10(6 holes) (Depth: 12)
Tapped holes M10(6 holes)(Depth: 12)
8
8
Connector for internal userI/O wiring harness (base side):JL05-2A24-28PC (with cap)Matching connector: JL05-6A24-28S(provided by users)
Air inlet Rc3/8with pipe plug (B)
Air inlet Rc3/8with pipe plug (A)
540
640
735
640
22 dia.(8 holes)
290±0.1 290±0.1353±0.1
290± 0.
1290
± 0.13
50±0.1
290±0.1 290±0.1
893
540
375491
(886)
R2912
R899
R608
Tapped holes M8(4 holes) (Depth: 15)
Tapped holes M5(2 holes) (Depth: 10)
Tapped holes M6(2 holes) (Depth: 12)
Tapped holes M8(4 holes) (Depth: 15)
45
120
133
27.5
12.541
073
92
16
255
180˚
180˚
344
60
40
A
B
C
1490285
513329122221
250
L
S
0
12.2˚
12.2˚
12.2
˚
75
1225
509
583
1770236
650
1008
3311
77
40
650
1477
1141 37
1
739
784
899
14010
250
1150
153
2203
585
18˚
60˚
42˚
50˚25˚
Tapped holesM12(4 holes)(Depth: 24)
91
142.5˚
137.5
12.2˚
76˚
P-Point
92 dia.
125 dia
.
+ 0.0
300
63
dia
.
+0.021020 dia.
(2 holes)
+0.018016 dia.
(2 holes)
+0.015010 dia.
(2 holes)(Depth: 8)
+0.01509 dia.
(2 holes)(Depth: 8)
0 -0.0
2518
0 d
ia.
Dimensions Units : mm : P-point Maximum Envelope
Manipulator Specifi cations
View C
View B
View A
MOTOMAN-MH215
Note : SI units are used for specifi cations.
*1 : Conforms to ISO 9283.*2 : Varies in accordance with applications and motion patterns.
Model MOTOMAN-MH215Type YR-MH00215-J00Controlled Axis 6 (Vertically articulated)
Payload 215 kgRepeatability*1 ±0.2 mm
Range ofMotion
S -axis (turning) −180˚ − +180˚L -axis (lower arm) −60˚ − +76˚U -axis (upper arm) −142.5˚ − +230˚R -axis (wrist roll) −360˚ − +360˚B -axis (wrist pitch/yaw) −125˚ − +125˚T -axis (wrist twist) −360˚ − +360˚
MaximumSpeed
S -axis (turning) 1.75 rad/s, 100˚/sL -axis (lower arm) 1.57 rad/s, 90˚/sU -axis (upper arm) 1.69 rad/s, 97˚/sR -axis (wrist roll) 2.09 rad/s, 120˚/sB -axis (wrist pitch/yaw) 2.09 rad/s, 120˚/sT -axis (wrist twist) 3.32 rad/s, 190˚/s
Allowable Moment
R -axis (wrist roll) 1176 N·mB -axis (wrist pitch/yaw) 1176 N·mT -axis (wrist twist) 710 N·m
Allowable Inertia(GD2/4)
R -axis (wrist roll) 317 kg·m2
B -axis (wrist pitch/yaw) 317 kg·m2
T -axis (wrist twist) 200 kg·m2
Approx. Mass 1140 kg
Ambientconditions
Temperature 0˚C to +45˚CHumidity 20% to 80%RH (non-condensing)
Vibration 4.9 m/s2 or less
Others Free from corrosive gas or liquid, or explosive gas or liquid Free from exposure to water, oil, or dust Free from excessive electrical noise (plasma)
Power Requirements*2 5.0 kVA
215 kg payload, R2912 mm maximum reach
-
18
Connector for internal userI/O wiring harness (base side):JL05-2A24-28PC (with cap)Matching connector: JL05-6A24-28S(provided by users)
Air inlet Rc3/8with pipe plug
P-point
R2702
R713
27.5 12
.545
120 Tapped holes M10
(6 holes)(Depth: 14)
Tapped holes M10 (6 holes)(Depth: 14)
344 9216 60
Tapped holes M8 (4 holes)(Depth: 14)
Tapped holes M5 (2 holes)(Depth: 9)
Tapped holes M6 (2 holes)(Depth: 11)
Tapped holes M8 (4 holes)(Depth: 14)
(275) 344
276 349
125 dia.
92 dia.
9
10
220
R515
30°
255 40
22 dia. (8 holes)Tube for fieldbus cable
(I.D12 dia. )(on S-head)
Tube for fieldbus cable (I.D12 dia.) (in base)
S
325 1225
250
650
300
2702
L R2411
60°
76°
19°
4°
147°
90°
1150
970 3061
928
332
598
957
577
1441
562
762
713
709
2253
407
9
2450
153
230±0.1230±0.1
185±
0.1 18
5±0.1
295±0.1
25±
0.10
320
420
500
290450
420500
A
B
C
B
T
RU
+0.015010 dia.
(2 holes)(Depth: 8)
+0.01509 dia.
(2 holes)(Depth: 8)
+ 0.0
300
63
d
ia.
0 -0.0
2518
0
d
ia.
+0.021020 dia.
(2 holes)
Manipulator Specifi cations
Dimensions Units : mm : P-point Maximum Envelope
View C
View B
View A
225 kg payload, R2702 mm maximum reach
MOTOMAN-MH225
Allowable Moment
R -axis (wrist roll) 1372 N·mB -axis (wrist pitch/yaw) 1372 N·mT -axis (wrist twist) 735 N·m
Allowable Inertia(GD2/4)
R -axis (wrist roll) 145 kg·m2
B -axis (wrist pitch/yaw) 145 kg·m2
T -axis (wrist twist) 84 kg·m2
Approx. Mass 1000 kg
Ambientconditions
Temperature 0˚C to +45˚CHumidity 20% to 80%RH (non-condensing)
Vibration 4.9 m/s2 or less
Others Free from corrosive gas or liquid, or explosive gas or liquid Free from exposure to water, oil, or dust Free from excessive electrical noise (plasma)
Power Requirements*2 5.0 kVA
Model MOTOMAN-MH225Type YR-MS210/MH225-A00Controlled Axis 6 (Vertically articulated)
Payload 225 kgRepeatability*1 ±0.2 mm
Range ofMotion
S -axis (turning) −180˚ − +180˚L -axis (lower arm) −60˚ − +76˚U -axis (upper arm) −147˚ − +90˚R -axis (wrist roll) −360˚ − +360˚B -axis (wrist pitch/yaw) −125˚ − +125˚T -axis (wrist twist) −360˚ − +360˚
MaximumSpeed
S -axis (turning) 2.09 rad/s, 120˚/sL -axis (lower arm) 1.69 rad/s, 97˚/sU -axis (upper arm) 2.01 rad/s, 115˚/sR -axis (wrist roll) 2.53 rad/s, 145˚/sB -axis (wrist pitch/yaw) 2.53 rad/s, 145˚/sT -axis (wrist twist) 3.84 rad/s, 220˚/s
*1 : Conforms to ISO 9283.*2 : Varies in accordance with applications and motion patterns.Note : SI units are used for specifi cations.
-
19
Connector for internal userI/O wiring harness (base side):JL05-2A24-28PC (with cap)Matching connector: JL05-6A24-28S(provided by users)
Air inlet Rc3/8with pipe plug (A)
Air inlet Rc3/8with pipe plug (B)
540
640
735
640290±0.1 290±0.1
290±0.1290±0.1353±0.1
22 dia.(8 holes)
290± 0
.129
0± 0.1
350±
0.1
893
8
8
92
60
27.5
4545133
6012
0 16
Tapped holes M8(4 holes)(Depth: 15)
Tapped holes M5(2 holes)(Depth: 10)
R80
4R
804
R2710
Tapped holes M6(2 holes)(Depth: 12)
Tapped holes M8(4 holes)(Depth: 15)
12.5
R608R608
73
40
410
27.5
180˚
180˚
Tapped holes M10(6 holes)(Depth: 12)
Tapped holes M10(6 holes)(Depth: 12)92 dia.125
dia.
801
375
L
S
491
3109
142.
5˚
440597
1070
0
381
52
271020204730
2501285
91
18˚18˚12.2˚
12.2˚
76˚
285
25˚
42˚
153
250
50˚
75137.5137.5
650
855
855
1150 12
.2˚
60˚
140180
4
589
534
7590
989
40
2203
80
647
1225
0
1345
375441
A
C
B
Tapped holes M12(4 holes)(Depth: 24)
344344
540
255255
B
T
RU
P-Point
+0.01509 dia.
(2 holes)(Depth: 8)
+0.015010 dia.
(2 holes)(Depth: 8)+ 0
.030
063
d
ia.
0 -0.0
2518
0 d
ia.
+0.021020 dia.
(2 holes)
+0.018016 dia.
(2 holes)
Dimensions Units : mm : P-point Maximum Envelope
Manipulator Specifi cations
View C
View B
View A
MOTOMAN-MH250
Note : SI units are used for specifi cations.
*1 : Conforms to ISO 9283.*2 : Varies in accordance with applications and motion patterns.
Model MOTOMAN-MH250Type YR-MH00250-J00Controlled Axis 6 (Vertically articulated)
Payload 250 kgRepeatability*1 ±0.2 mm
Range ofMotion
S -axis (turning) −180˚ − +180˚L -axis (lower arm) −60˚ − +76˚U -axis (upper arm) −142.5˚ − +230˚R -axis (wrist roll) −360˚ − +360˚B -axis (wrist pitch/yaw) −125˚ − +125˚T -axis (wrist twist) −360˚ − +360˚
MaximumSpeed
S -axis (turning) 1.75 rad/s, 100˚/sL -axis (lower arm) 1.57 rad/s, 90˚/sU -axis (upper arm) 1.69 rad/s, 97˚/sR -axis (wrist roll) 2.09 rad/s, 120˚/sB -axis (wrist pitch/yaw) 2.09 rad/s, 120˚/sT -axis (wrist twist) 3.32 rad/s, 190˚/s
Allowable Moment
R -axis (wrist roll) 1385 N·mB -axis (wrist pitch/yaw) 1385 N·mT -axis (wrist twist) 735 N·m
Allowable Inertia(GD2/4)
R -axis (wrist roll) 317 kg·m2
B -axis (wrist pitch/yaw) 317 kg·m2
T -axis (wrist twist) 200 kg·m2
Approx. Mass 1130 kg
Ambientconditions
Temperature 0˚C to +45˚CHumidity 20% to 80%RH (non-condensing)
Vibration 4.9 m/s2 or less
Others Free from corrosive gas or liquid, or explosive gas or liquid Free from exposure to water, oil, or dust Free from excessive electrical noise (plasma)
Power Requirements*2 6.0 kVA
250 kg payload, R2710 mm maximum reach
-
20
Tapped holes M10 (6 holes)(Depth: 12)
Tapped holes M10 (6 holes)(Depth: 12)
92 dia.
8
8
125 dia
.
Connector for internal userI/O wiring harness(casing side):JL05-2A24-28SC (with cap)Matching connector: JL05-6A24-28P(provided by users)
491
R847
7341
0 R608
R2446
350±
0 .1
290±
0 .1
290±0.1 290±0.1
290±
0 .1
640893
540
290±0.1290±0.1
22 dia. (8 holes)
640
735
540
353±0.1
Tapped holes M8 (4 holes)(Depth: 15)
Tapped holes M6 (2 holes)(Depth: 10)
Tapped holes M8 (4 holes)(Depth: 15)
Tapped holes M5 (2 holes)(Depth: 10)
120
40255
34416 60
9213
3
12.52
7 .5
45
340491
Connector for internal userI/O wiring harness (base side):JL05-2A24-28PC (with cap)Matching connector: JL05-6A24-28S(provided by users)
Air inlet PT3/8with pipe plug (A)
Air inlet PT3/8with pipe plug (B)
S1
2BC
1BC
AIR-A
FB
AIR-B
Tube for fieldbus cable(I.D12 dia.) (in base)
744
748
4202
112
2845
709
455
861
1153
0117
140178
784
6
332
0788
1172
40
76°60°
18°25°
153
2203
650
1150
250
24461756
250285 1015
287
828
1225
0
142.5°
50°
42°
75137.5
855
B
L
S
A
C
B
Tube for fieldbus cable (I.D12 dia.) (in protective tubing)
T
RU
P-pointP-point
Tappedholes M12(4 holes)(Depth: 24)
Tube for fieldbus cable (I.D12 dia.)(in base)
+ 0.0
300
63
d
ia.
0 -0.0
2518
0
d
ia.
+0.015010 dia.
(2 holes)(Depth: 8)
+0.01509 dia.
(2 holes)(Depth: 8)
+0.021020 dia.
(2 holes)
+0.018016 dia.
(2 holes)
Manipulator Specifi cations
Dimensions Units : mm : P-point Maximum Envelope
View A
View B
View C
Allowable Moment
R -axis (wrist roll) 1333 N·mB -axis (wrist pitch/yaw) 1333 N·mT -axis (wrist twist) 706 N·m
Allowable Inertia(GD2/4)
R -axis (wrist roll) 142 kg·m2
B -axis (wrist pitch/yaw) 142 kg·m2
T -axis (wrist twist) 79 kg·m2
Approx. Mass 1120 kg
Ambientconditions
Temperature 0˚C to +45˚CHumidity 20% to 80%RH (non-condensing)
Vibration 4.9 m/s2 or less
Others Free from corrosive gas or liquid, or explosive gas or liquid Free from exposure to water, oil, or dust Free from excessive electrical noise (plasma)
Power Requirements*2 5.0 kVA
Model MOTOMAN-MH280Type YR-MH00280-J00Controlled Axis 6 (Vertically articulated)
Payload 280 kgRepeatability*1 ±0.2 mm
Range ofMotion
S -axis (turning) −180˚ − +180˚L -axis (lower arm) −60˚ − +76˚U -axis (upper arm) −142.5˚ − +230˚R -axis (wrist roll) −360˚ − +360˚B -axis (wrist pitch/yaw) −125˚ − +125˚T -axis (wrist twist) −360˚ − +360˚
MaximumSpeed
S -axis (turning) 1.57 rad/s, 90˚/sL -axis (lower arm) 1.39 rad/s, 80˚/sU -axis (upper arm) 1.57 rad/s, 90˚/sR -axis (wrist roll) 2.01 rad/s, 115˚/sB -axis (wrist pitch/yaw) 1.92 rad/s, 110˚/sT -axis (wrist twist) 3.32 rad/s, 190˚/s
280 kg payload, R2446 mm maximum reach
MOTOMAN-MH280
*1 : Conforms to ISO 9283.*2 : Varies in accordance with applications and motion patterns.Note : SI units are used for specifi cations.
-
21
290±0.1 290±0.1
290±0.1 290±0.1
290±
0.1
609 680
222
Tapped holes M12 (12 holes)(Depth: 25)
22 dia. (8 holes)
550
540
5050
54050 50786
250 dia.
15°9
Air inlet Rc3/8with pipe plug
Connector for internal userI/O wiring harness (base side):JL05-2A28-21PC (with cap)Matching connector: JL05-6A28-21S(provided by users)
290±
0.129
0±0.1
A
B
C
180°
0 796 11641318
2942
0
1409
1498
22362401
1371
215
1849 25659890
2683
922
900
14
R2942R821
R1371
445143.5
16.5
100
70
900
1050
250
260
550 400
55°
61°
3001605500
60822 100
113°
49°
18°
R103
0
43°
113°R1420
202
(1674)
180°
L
S
T
U BR
Tapped holes M8(2 holes)(Depth: 15)
Tapped holes M8 (4 holes)(Depth: 15)
Tapped holes M8 (4 holes)(Depth: 15)
P-point
Tube forfieldbus cable (I.D12 dia.)(in base)
A A
Cover for fieldbus cable(I.D12 dia.) (in base)
Tapped holes M4(4 holes) (Depth: 3)(Pitch: 0.7)
AA
3BC2BC
1BCAIR
S1FB
32
32
+ 0.04
00
160
d
ia.
0 -0.0
8131
5
d
ia.
+0.018012 dia.
(1 hole)(Depth:15)
+0.018016 dia.
(2 holes)
+0.021020 dia.
(2 holes)
Dimensions Units : mm : P-point Maximum Envelope
Manipulator Specifi cations
View A
View B
View C
Allowable Moment
R -axis (wrist roll) 2989 N·mB -axis (wrist pitch/yaw) 2989 N·mT -axis (wrist twist) 1343 N·m
Allowable Inertia(GD2/4)
R -axis (wrist roll) 500 kg·m2
B -axis (wrist pitch/yaw) 500 kg·m2
T -axis (wrist twist) 315 kg·m2
Approx. Mass 2700 kg
Ambientconditions
Temperature 0˚C to +45˚CHumidity 20% to 80%RH (non-condensing)
Vibration 4.9 m/s2 or less
Others Free from corrosive gas or liquid, or explosive gas or liquid Free from exposure to water, oil, or dust Free from excessive electrical noise (plasma)
Power Requirements*2 7.0 kVA
Model MOTOMAN-MH400Type YR-MH00400-J00Controlled Axis 6 (Vertically articulated)
Payload 400 kgRepeatability*1 ±0.3 mm
Range ofMotion
S -axis (turning) −180˚ − +180˚L -axis (lower arm) −55˚ − +61˚U -axis (upper arm) −113˚ − +18˚R -axis (wrist roll) −360˚ − +360˚B -axis (wrist pitch/yaw) −115˚ − +115˚T -axis (wrist twist) −360˚ − +360˚
MaximumSpeed
S -axis (turning) 1.78 rad/s, 102˚/sL -axis (lower arm) 1.69 rad/s, 97˚/sU -axis (upper arm) 1.69 rad/s, 97˚/sR -axis (wrist roll) 1.40 rad/s, 80˚/sB -axis (wrist pitch/yaw) 1.40 rad/s, 80˚/sT -axis (wrist twist) 3.00 rad/s, 172˚/s
400 kg payload, R2942 mm maximum reach
MOTOMAN-MH400
*1 : Conforms to ISO 9283.*2 : Varies in accordance with applications and motion patterns.Note : SI units are used for specifi cations.
-
22
Manipulator Specifi cations
Dimensions Units : mm : P-point Maximum Envelope
150˚
150˚
R3518
R184
7
676 811
1495
.5
70
60
100
100
423
16.5
143.
5
965 .
5
Tapped holes M8 (2 holes)(Depth: 15)
Tapped holes M8 (4 holes)(Depth: 15)
Tapped holes M8 (4 holes)(Depth: 15)
Tapped holes M8 (1 hole)(Depth: 15)
435±0.1410±0.2
410±0.2
435±
0.1
350±
0.2
28 dia. (12 holes)
350±
0.2
5
640
760
860
640
760935
Tapped holes M12 (6 holes)(Depth: 20)
14 dia. (8 holes)
225 dia.200
dia.
A
Connector for internal userI/O wiring harness (base side):JL05-2A28-21PC (with cap)Matching connector: JL05-6A28-21S(provided by users)
Air inlet PT3/8with pipe plug (A)
Air inlet PT3/8with pipe plug (B)
3BC2BC
1BC
S1
AIR A AIR B
A B
FB
Tapped holes M4 (4 holes)(Depth: 3) (Pitch: 0.7)
Cover forfieldbus cable(I.D12 dia.)(in base)
3232
60˚
30˚
60˚
15˚15˚
18
60˚
30˚
30˚
60˚4
T
B
R
U
LS
30˚
73˚
725
67˚
99˚
20˚
21˚
101˚
94
140
255
21351
000
500
250
122˚
280
21˚
1100 260
32173384
1933
8481000
0195
1148
1524
3518
1847
1553
2004
1293
122774
30
1421
C
B
P-pointTube for fieldbus cable(I.D12 dia.) (in base)
+ 0.0
630
160
dia.
+0.018012 dia.
0 -0.0
7225
0
d
ia.
+0.018012 dia.
(1 hole)(Depth: 20)
+0.018016 dia.
(2 holes)
View C
View B
View A
400 kg payload, R3518 mm maximum reach
MOTOMAN-UP400RD
Model MOTOMAN-UP400RDType YR-UP400RD-J00Controlled Axis 6 (Vertically articulated)
Payload 400 kgRepeatability*1 ±0.5 mm
Range ofMotion
S -axis (turning) −150˚ − +150˚L -axis (lower arm) −122˚ − +20˚U -axis (upper arm) −9˚ − +120˚R -axis (wrist roll) −360˚ − +360˚B -axis (wrist pitch/yaw) −120˚ − +120˚T -axis (wrist twist) −360˚ − +360˚
MaximumSpeed
S -axis (turning) 1.40 rad/s, 80˚/sL -axis (lower arm) 1.40 rad/s, 80˚/sU -axis (upper arm) 1.40 rad/s, 80˚/sR -axis (wrist roll) 1.40 rad/s, 80˚/sB -axis (wrist pitch/yaw) 1.40 rad/s, 80˚/sT -axis (wrist twist) 2.79 rad/s, 160˚/s
Allowable Moment
R -axis (wrist roll) 1960 N·mB -axis (wrist pitch/yaw) 1960 N·mT -axis (wrist twist) 833 N·m
Allowable Inertia(GD2/4)
R -axis (wrist roll) 150 kg·m2
B -axis (wrist pitch/yaw) 150 kg·m2
T -axis (wrist twist) 50 kg·m2
Approx. Mass 3600 kg
Ambientconditions
Temperature 0˚C to +45˚CHumidity 20% to 80%RH (non-condensing)
Vibration 4.9 m/s2 or less
Others Free from corrosive gas or liquid, or explosive gas or liquid Free from exposure to water, oil, or dust Free from excessive electrical noise (plasma)
Power Requirements*2 8.5 kVA
*1 : Conforms to ISO 9283.*2 : Varies in accordance with applications and motion patterns.Note : SI units are used for specifi cations.
-
23
B
L
Air inlet Rc3/8with pipe plug
Tapped holes M8 (4 holes)(Depth: 15)
Tapped holes M8 (2 holes)(Depth: 15)
Tube for fieldbus cable (I.D12 dia.)(in base)
P-point
696 767
222
Connector for internal userI/O wiring harness (base side):JL05-2A28-21PC (with cap)Matching connector: JL05-6A28-21S(provided by users)
Tapped holes M8 (4 holes)(Depth: 15)
Tapped holes M12 (12 holes)(Depth: 25)
Tapped holes M4(4 holes)(Depth: 3)
250 dia.
22 dia. (8 holes)
180°
R2942
R1371
445
143.5
16.510
0
70
180°
60
822 100
R892
R105
4
550
540
280
5050
54050 50786
A A
15°8
290±0.1290±0.1
290±
0.129
0±0.1
290±0.1290±0.1
S1FB
32
32
Cover for fieldbus cable(I.D12 dia.) (in base)
0
796
1164
1318
2942
0
1409
1498
22362401
1371
215
1849
2565
989
0
2683
922
900
900
1050
250
260
550 400
55°
61°
3001605500
113°
14
49°
18°
43°
113°R1420
202
(1674)
A
B
C
R
T
U
S
+ 0.04
00
160
d
ia.
0 -0.0
8131
5
d
ia.
+0.018012 dia.
(1 hole)(Depth:15)
+0.021020 dia.
(2 holes)+0.018
016 dia.(2 holes)
Dimensions Units : mm : P-point Maximum Envelope
Manipulator Specifi cations
View C
View B
View A
Allowable Moment
R -axis (wrist roll) 3430 N·mB -axis (wrist pitch/yaw) 3430 N·mT -axis (wrist twist) 1764 N·m
Allowable Inertia(GD2/4)
R -axis (wrist roll) 520 kg·m2
B -axis (wrist pitch/yaw) 520 kg·m2
T -axis (wrist twist) 350 kg·m2
Approx. Mass 3050 kg
Ambientconditions
Temperature 0˚C to +45˚CHumidity 20% to 80%RH (non-condensing)
Vibration 4.9 m/s2 or less
Others Free from corrosive gas or liquid, or explosive gas or liquid Free from exposure to water, oil, or dust Free from excessive electrical noise (plasma)
Power Requirements*2 7.5 kVA
Model MOTOMAN-MH600Type YR-MH00600-A00Controlled Axis 6 (Vertically articulated)
Payload 600 kgRepeatability*1 ±0.3 mm
Range ofMotion
S -axis (turning) −180˚ − +180˚L -axis (lower arm) −55˚ − +61˚U -axis (upper arm) −113˚ − +18˚R -axis (wrist roll) −360˚ − +360˚B -axis (wrist pitch/yaw) −115˚ − +115˚T -axis (wrist twist) −360˚ − +360˚
MaximumSpeed
S -axis (turning) 1.43 rad/s, 82˚/sL -axis (lower arm) 1.43 rad/s, 82˚/sU -axis (upper arm) 1.43 rad/s, 82˚/sR -axis (wrist roll) 1.40 rad/s, 80˚/sB -axis (wrist pitch/yaw) 1.40 rad/s, 80˚/sT -axis (wrist twist) 2.83 rad/s, 162˚/s
600 kg payload, R2942 mm maximum reach
MOTOMAN-MH600
*1 : Conforms to ISO 9283.*2 : Varies in accordance with applications and motion patterns.Note : SI units are used for specifi cations.
-
MOTOMAN-MH, UP Series
Programming Pendant SpecificationsItems
DimensionsMassMaterial
OperationDevice
Display
IEC Protection Class
Cable Length
169 (W)×50 (D)×314.5 (H) mm0.990 kgReinforced plasticsSelect keys, axis keys, numerical/application keys, mode selector switch with keys (mode : teach, play, and remote), emergency stop button, enable switch, compact flash card interface device (compact flash is optional), USB port (1 port)5.7-inch color LCD, touch panel 640×480 pixels(Alphanumeric characters, Chinese characters, Japanese letters, Others)IP65Standard : 8 m,Max. : 36 m (with optional extension cable)
Specifications
Robot Controller DX200 SpecificationsItems
Configuration
Dimensions, Mass
Cooling SystemAmbientTemperatureRelative Humidity
Power Supply
Grounding
Digital I/Os
Positioning SystemProgrammingCapacityExpansion SlotsLAN (Connection to Host)InterfaceControl Method
Drive Units
Dust proof IP54
MH5S , MH5LS , MH12, MH24, MH24-10, MH50 ,MH50 -20, MH50 -35, MH80 , MH110, MH180,MH180-120, MH215 , MH225, MH250 , MH280 : 600 (W)×520 (D)×730 (H) mm*(Possible to control three external axes) , 100 kg
MH400 , UP400RD , MH600:600 (W)×640 (D)×730 (H) mm*(Possible to control three external axes) , 110 kg
Indirect coolingDuring operation : 0˚C to +45˚CDuring storage : −10˚C to +60˚C90% max. (non-condensing)Three-phase 200 VAC (+10%, -15%), 50/60 Hz (±2%)Three-phase 220 VAC (+10%, -15%), 60 Hz (±2%) Grounding resistance : 100 or lessSpecialized signals :28 inputs and 7 outputsGeneral signals : 40 inputs and 40 outputsMax. I/O (optional) : 4096 inputs and 4096 outputsSerial communications (absolute encoder)JOB : 200,000 steps, 10,000 instructionsCIO ladder : 20,000 stepsPCI : 2 slots
1 (10BASE-T/100BASE-TX)
RS-232C : 1chSoftware servo controlSERVOPACK for AC servomotors(can control up to 9 axes)
* : Dimensions of the controller only. Does not include any attachments.
Specifications
Sales Department
HEAD OFFICE2-1 Kurosaki-Shiroishi, Yahatanishi-ku, Kitakyushu, Fukuoka 806-0004, JapanPhone: +81-93-645-7703 Fax: +81-93-645-7802
YASKAWA America, Inc. (Motoman Robotics Division)100 Automation Way, Miamisburg, OH 45342, U.S.A.Phone: +1-937-847-6200 Fax: +1-937-847-6277
YASKAWA Europe GmbH (Robotics Division)Yaskawastrasse 1, 85391, Allershausen, GermanyPhone: +49-8166-90-100 Fax: +49-8166-90-103
YASKAWA Nordic ABVerkstadsgatan 2, Box 504 ,SE-385 25 Torsas, SwedenPhone: +46-480-417-800 Fax: +46-486-414-10
YASKAWA Electric (China) Co., Ltd.22F, One Corporate Avenue, No.222 Hubin Road, Huangpu District, Shanghai 200021, ChinaPhone: +86-21-5385-2200 Fax: +86-21-5385-3299
YASKAWA SHOUGANG ROBOT CO., LTD.No.7 Yongchang North Road, Beijing E&T Development Area China 100176Phone: +86-10-6788-2858 Fax: +86-10-6788-2878
YASKAWA India Private Ltd. (Robotics Division)#426, Udyog Vihar Phase-IV, Gurgaon, Haryana, IndiaPhone: +91-124-475-8500 Fax: +91-124-475-8542
YASKAWA Electric Korea Corporation35F, Three IFC, 10 Gukjegeumyung-ro, Yeongdeungpo-gu, Seoul, Korea 07326Phone: +82-2-784-7844 Fax: +82-2-784-8495
YASKAWA Electric Taiwan Corporation12F, No.207, Sec. 3, Beishin Rd., Shindian District, New Taipei City 23143, TaiwanPhone: +886-2-8913-1333 Fax: +886-2-8913-1513
YASKAWA Electric (Singapore) PTE Ltd151 Lorong Chuan, #04-02A New Tech Park, Singapore 556741Phone: +65-6282-3003 Fax: +65-6289-3003
YASKAWA Electric (Thailand) Co., Ltd.59, 1st-5th Floor, Flourish Building, Soi Ratchadapisek 18,Ratchadapisek Road, Huaykwang, Bangkok 10310, ThailandPhone: +66-2-017-0099 Fax: +66-2-017-0199
PT. YASKAWA Electric IndonesiaSecure Building-Gedung B Lantai Dasar & Lantai 1 Jl. Raya Protokol Halim Perdanakusuma, Jakarta 13610, IndonesiaPhone: +62-21-2982-6470 Fax: +62-21-2982-6471
Specifications are subject to change without notice for ongoing product modifications and improvements.
© 2009 YASKAWA ELECTRIC CORPORATION
LITERATURE NO. KAEP C940440 22L -0
16-8-43Published in Japan September 2017
In the event that the end user of this product is to be the military and said product is to be employed in any weapons systems or the manufacture thereof, the export will fall under the relevant regulations as stipulated in the Foreign Exchange and Foreign Trade Regulations. Therefore, be sure to follow all procedures and submit all relevant documentation according to any and all rules, regulations and laws that may apply.