robot optimized for handling small motoman series...5.39 nxm 5.39 nxm 2.94 nxm 0.1 kgxm2 0.1 kgxm2...

Robots optimized for handling can also be used for assembly and other applications.

Small but MightySmall but Mighty

Robot Optimized for Handling

Small-MOTOMAN Series

Vertically Articulated Robot

(For Use with FS100 Controllers)

R009QMS Accreditation JQA-EM0924JQA-0813

Certified for

ISO9001 and

ISO14001

Compact

Realize the compact production

facilities of your dream

Wide selection of small

manipulators with payloads

ranging from 3 kg to 20 kg

Compact controller(470 W × 420 D × 200 H) for

control of 8 axes

Expandable (Optional)

Enable user to develop their

own application programs.

Environment for users to develop

their own application programs.

Users can develop application

control programs using C language.

High speedIncrease productivityHigh-speed motions with a wide

motion rangeReduced cycle times by using the

controller with a high-speed control

cycle and a function to suppress

vibrations in the robot’s hand.

Lineup of Robots Optimized for Handling

5

10

15

20

25

0

Payload

Maximum reach

Maximum reach (mm)

MH3F

1

2

MH5F

1 3 kg

R532 mm2

1 5 kg

R706 mm2

MH5LF

1 5 kg

R895 mm2

MH6F

1 6 kg

R1422 mm2

HP20F

1 20 kg

R1717 mm2

500 1000 1500 2000

Paylo

ad

(kg

)

MOTOMAN series of small robots has optimal features for handling:

compact size, high speeds, and application expandability.These features

contribute to making production facilities smaller and ideal for

handling, and can improve productivity.

U

2

S M A L L - M O T O M A N S E R I E S

Manipulator Specifications

(turning)

(lower arm)

(upper arm)

(wrist roll)

(wrist pitch/yaw)

(wrist twist)

(turning)

(lower arm)

(upper arm)

(wrist roll)

(wrist pitch/yaw)

(wrist twist)

MOTOMAN-MH3F

YR-MH0003F-A00

6 (Vertically articulated)

3 kg

±0.03 mm

－160° － +160°－85° － +90°－105° － +260°－170° － +170°－120° － +120°－360° － +360°

3.49 rad/s, 200°/s2.62 rad/s, 150°/s3.32 rad/s, 190°/s5.24 rad/s, 300°/s5.24 rad/s, 300°/s7.33 rad/s, 420°/s

Allowable

Moment

Allowable

Inertia

(GD2/4)

Ambient

conditions

5.39 N m

5.39 N m

2.94 N m

0.1 kg m2

0.1 kg m2

0.03 kg m2

27 kg

0˚C to +40˚C

20 to 80%RH (non-condensing)

4.9 m/s2 or less

0.5 kVA

Free from corrosive gasses or liquids, or explosive gasses

Free from exposure to water, oil, or dust

Free from excessive electrical noise (plasma)

**

12

::Conforms to JIS B 8432. Varies in accordance with applications and motion patterns.

-axis

-axis

-axis

-axis

-axis

-axis

-axis

-axis

-axis

-axis

-axis

-axis

S

L

U

R

B

T

S

L

U

R

B

T

(wrist roll)

(wrist pitch/yaw)

(wrist twist)

(wrist roll)

(wrist pitch/yaw)

(wrist twist)

-axis

-axis

-axis

-axis

-axis

-axis

R

B

T

R

B

T

Temperature

Humidity

Vibration

Others

Range of

Motion

Maximum

Speed

Model

Type

Controlled Axis

Payload

Repeatability*1

Power Requirements*2

Mass

Note : SI units are used for specifications.

MOTOMAN-MH3F

Dimensions Units : mm : P-point Maximum Envelope

Payload: 3 kg

Maximum Reach: R532 mm

The MOTOMAN-MH3F, a compact manipulator with a motor of 80 W or

less mounted on all axes, requires minimal space (baseplate: 240 mm ×

170 mm). No fence is required for robot’s working area. The robot can

be used in applications such as automated guided vehicles (AGVs),

testing equipment, and educational tools.

Standard models include four air hoses (diameter: 4 mm), and an

internal user I/O wiring harness (0.2 mm2 × 10) running through the

U-arm. This structure simplifies wiring and tubing for easier system

construction.

Floor-mounted, wall-mounted, and ceiling-mounted types are available.

(Note 2)(Note 1)

P-Point

193

47

38

1

133

74

38

9

33

7

57

55°

532

583

822

90

0

270

188229372

79

30

531 40

189

180

21

21

9

15

82

040

85°

260°

27

6

65

9

42

0

29

02

60 474

B

T

RUUU

L

R10

4

80

R188

R532

3718

S

View A View B

View C

Connector for internal userI/O wiring harness:HR10A-10R-12P

Matching connector:HR10A-10P-12S HIROSE(provided by users)

5050±0.1

88±0.1155

50

14

5

150

170

88± 0

.1

4 Air inletsTapped hole M5 (4 places) with pipe plug

45°

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

P.C.D.31.5

5 (fitting depth)

View D

Connector for internal userI/O wiring harness:HR10A-10R-12S

Matching connector:HR10A-10P-12P HIROSE(provided by users)

4 Air outletsTapped hole M5(4 places)with pipe plug

B

C

A

D

160°

160°

12

Note: Motion range of point P when the S-axis is between －40̊ to +40̊.Motion range of point P when the S-axis is between －125̊ to －160̊ or +125̊ to +160̊.

15

0

17

0

90°

78± 0

.1

105°

5 dia. (1 hole)(Depth: 7)

+0.0120

6 dia.(Reference Hole)

+0.0120

9 dia.(4 holes)(Mounting Holes)

20

dia

.+ 0.0

13

0

40

dia

.0 − 0.0

16

5 (fitting depth)


3





Manipulator SpecificationsMOTOMAN-MH5F

YR-MH0005F-A00

±0.02 mm

－136° － +255°

6.56 rad/s, 376°/s6.11 rad/s, 350°/s6.98 rad/s, 400°/s


5 kg

－170° － +170°－65° － +150°

－190° － +190°－135° － +135°－360° － +360°

7.85 rad/s, 450°/s7.85 rad/s, 450°/s

12.57 rad/s, 720°/s

MOTOMAN-MH5LF

YR-MH005LF-A00

±0.03 mm

－138° － +255°

4.71 rad/s, 270°/s4.89 rad/s, 280°/s5.24 rad/s, 300°/s

MOTOMAN-MH5F

27 kg

MOTOMAN-MH5LF

29 kg

Allowable

Moment

Allowable

Inertia

(GD2/4)

Ambient

conditions

**

12


Range of

Motion

Maximum

Speed

Model

Type

Controlled Axis

Payload

Repeatability*1


Mass

Model


The small FS100 controller has a high-speed control cycle and a

function to suppress vibrations in the robot’s hand for reduced residual

vibration when starting and stopping to shorten cycle times and to

realize the highest speed in their class.

Longest reach in a respective class (MH5F: 706 mm; MH5LF: 895 mm)


MOTOMAN-MH5F/-MH5LF Payload: 5 kg

Maximum Reach: R706 mm/R895 mm

12 N m

12 N m

7 N m

0.3 kg m2

0.3 kg m2

0.1 kg m2

0˚C to +45˚C


4.9 m/s2 or less

1 kVA


(turning)

(lower arm)

(upper arm)

(wrist roll)

(wrist pitch/yaw)

(wrist twist)

(turning)

(lower arm)

(upper arm)

(wrist roll)

(wrist pitch/yaw)

(wrist twist)

-axis

-axis

-axis

-axis

-axis

-axis

-axis

-axis

-axis

-axis

-axis

-axis

(wrist roll)

(wrist pitch/yaw)

(wrist twist)

(wrist roll)

(wrist pitch/yaw)

(wrist twist)

-axis

-axis

-axis

-axis

-axis

-axis

S

L

U

R

B

T

S

L

U

R

B

T

R

B

T

R

B

T

Temperature

Humidity

Vibration

Others

MH5F MH5LF

View E

R23

5

R706



87

70 55

298

423

40 2

5

110

170°

170°



45°P.C.D.31.5

5 (fitting depth)

View A

12 d

ia.+ 0

.018

0

+0.01205 dia. (1 hole)

(Depth: 7)

109 109

105 100±0.05

92± 0

.192

± 0.1

66±0.160±0.1

85± 0

.1

View C

+0.01206 dia.

(2 holes)

+0.018012 dia.

(1 hole)

12 dia. (4 holes)(Mounting Holes)

160194

16

0

138 10

0±0.

051

94

310

330

40

740

0178

60

65°150 °

203

24351

136°

B

C

P-Point

S

L

U

R

B

T

A

156

0

246

239

474

688

88 80

23

3

947

0 15

23

5

70

6

27

7

50

1

11

4

305

255°


R895


523

170°

170°

11025

40

87

70 55398

R267

Tapped holes M4 (4 holes)(Depth: 8) (Pitch: 0.7)Tapped holes M4 (4 holes)(Depth: 8) (Pitch: 0.7)

13

8

105 100±0.05

92± 0

.192

± 0.1

66±0.160±0.1

85± 0

.1

100±

0.05

+0.01206 dia.

(2 holes)

+0.018012 dia.

(1 hole)

12 dia. (4 holes)(Mounting Holes)

160194

160

19

4

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)

View B View D

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)1BC

2BC

3BC 4BCAIR1

AIR2

1091099 0

88

68

1

40

0

26

7

89

5

33

04

00

40

34

1

98

503

1137

808

198

0

423

13

2

80

83

0

60

S

L

U

R B T

405

P-Point65° 150°32°

138°

255°

A

D

E

0

14

288

317 209

37 °37 °

4


Manipulator SpecificationsMOTOMAN-MH6F

YR-MH0006F-A00


6 kg

±0.08 mm

－170° － +170°－90° － +155°－175° － +250°－180° － +180°－45° － +225°－360° － +360°

3.84 rad/s, 220°/s3.49 rad/s, 200°/s3.84 rad/s, 220°/s7.16 rad/s, 410°/s7.16 rad/s, 410°/s

10.65 rad/s, 610°/s

11.8 N m

9.8 N m

5.9 N m

0.27 kg m2

0.27 kg m2

0.06 kg m2

130 kg

0˚C to +45˚C


4.9 m/s2 or less

1.5 kVA




MOTOMAN-MH6F Payload: 6 kg






Longest reach in its class (1422 mm) and increased moment capacity of

the wrist.



Range of

Motion

Maximum

Speed

Model

Type

Controlled Axis

Payload

Repeatability*1

(turning)

(lower arm)

(upper arm)

(wrist roll)

(wrist pitch/yaw)

(wrist twist)

(turning)

(lower arm)

(upper arm)

(wrist roll)

(wrist pitch/yaw)

(wrist twist)

-axis

-axis

-axis

-axis

-axis

-axis

-axis

-axis

-axis

-axis

-axis

-axis

S

L

U

R

B

T

S

L

U

R

B

T

Allowable

Moment

Allowable

Inertia

(GD2/4)

Ambient

conditions


Mass

(wrist roll)

(wrist pitch/yaw)

(wrist twist)

(wrist roll)

(wrist pitch/yaw)

(wrist twist)

-axis

-axis

-axis

-axis

-axis

-axis

R

B

T

R

B

T

**

12



Temperature

Humidity

Vibration

Others

View A View B

View C

P.C.D.40

45˚

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

175˚

83˚

90˚

155˚

250˚

61

41

55

95

640150

75

450

14

22

381

349

152

0309

637

11

22

1722

681

352

05

204316

764

53

8 0

50

1

L

B

T

R

U

12

94

13

0

S

P-Point

R270

R1422

R381

170˚

170˚

6

6

A

B

C

+0.021025 dia.

0−0.01650 dia.

+0.01206 dia. (1 hole)

(Depth: 6)


199188

141

1BC

2BC

3BC

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

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

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

Air inlet PT3/8with pipe plug (B)

Air inlet PT3/8with pipe plug (A)

18 dia. (4 holes)

102±0.1153±0.1

15

3± 0

.1

13

0± 0

.1

100±0.1

30

0

29

2

26

0

10

2± 0

.11

32± 0

.1

60

132±0.1240

300

260

60 +0.018016 dia.

(2 holes)

+0.018012 dia.

(1 hole)

7

5


Manipulator SpecificationsMOTOMAN-HP20F

YR-HP0020F-A00


20 kg

±0.06 mm

－180° － +180°－110° － +155°－165° － +255°－200° － +200°－50° － +230°－360° － +360°

3.44 rad/s, 197°/s3.05 rad/s，175°/s3.26 rad/s, 187°/s6.98 rad/s, 400°/s6.98 rad/s, 400°/s

10.47 rad/s, 600°/s

39.2 N m

39.2 N m

19.6 N m

1.05 kg m2

1.05 kg m2

0.75 kg m2 *3

268 kg

0˚C to +45˚C


4.9 m/s2 or less

2.0 kVA




***

123

:::

Conforms to JIS B 8432. Varies in accordance with applications and motion patterns.Only for downward movement of the T-axis.Refer to the MOTOMAN-HP20F INSTRUCTIONS for details.


MOTOMAN-HP20F Payload: 20 kg






Slim body with a narrower wrist and a smaller interference radius

improves accessibility to workpieces, jigs, and peripheral devices.



Range of

Motion

Maximum

Speed

Model

Type

Controlled Axis

Payload

Repeatability*1

(turning)

(lower arm)

(upper arm)

(wrist roll)

(wrist pitch/yaw)

(wrist twist)

(turning)

(lower arm)

(upper arm)

(wrist roll)

(wrist pitch/yaw)

(wrist twist)

-axis

-axis

-axis

-axis

-axis

-axis

-axis

-axis

-axis

-axis

-axis

-axis

S

L

U

R

B

T

S

L

U

R

B

T

Allowable

Moment

Allowable

Inertia

(GD2/4)

Ambient

conditions


Mass

(wrist roll)

(wrist pitch/yaw)

(wrist twist)

(wrist roll)

(wrist pitch/yaw)

(wrist twist)

-axis

-axis

-axis

-axis

-axis

-axis

Temperature

Humidity

Vibration

Others

R

B

T

R

B

T

2072

81˚

559

238

0

76

0

14

85

0

26

0

47

1

80

7

991917

155

˚

165˚

110˚

524

0

334

505

768

1003

14

08

0

13

23

14

17

87.5150 795

051

46

35

45

9

28

8

34

94

13

10

5

80

7

17

17

P-Point

L

B

TRU

S

180˚

180˚

R42

1

R1717

R314

150

138.5

157264

A

B

C

421

50

5 255˚

6

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

18 dia. (4 holes)

20

0± 0

.1

260±0.1

17

0± 0

.1

25

0

37

5

33

5

200±0.1313

335

375

45˚Tapped holes M6 (4 holes)(Depth: 10) (Pitch: 1.0)

P.C.D.40

View A View B

View C

60

+0.01206 dia. (1 hole)

(Depth: 6)

+0.018012 dia. (2 holes)

31

0.5

6

6

+0.021025 dia.

0−0.03950 dia.


Operation Screen

Easy pre-examination

For cell simulation, an easy pre-examination is available on your

PC by optional high-speed 3D graphics MotoSim EG*.

It also supports ROBCAD and IGRIP for the line simulation.

The FS100 is a compact controller with improved performance and functions optimized for

handling and assembly. Can be used with robots with a 20-kg payload or less.

MotoPlus

・・・・・・・

Sophisticated and flexible robot control programs that were not possible with INFORM and CIO ladder programs can be developed by using C languages.

Customization of programming pendantOperation windows for the programming pendant can be customized using VC++ and C# languages in accordance with needs and applications.

Interface panels

The windows in the operation panel can be created to look the same in the programming pendant.

High-speed Compact Controller for Handling FS100

Hardware Options Optional Functions

・・・・・・・・・

FS100 Controller Specifications Programming Pendant Specifications Optional

Optional

Optional

Optional

Conveyor synchronization

TCP

Relative job

Coordinated control

Servo float

Energy saving mode (with servomotor turn off limit)

Software pendant

Network (data transfer, FTP, Ethernet server)

Bilingual display (Shown in the required language.)

・・・・・

Vision function

External reference point control

Independent control

Search

Automatic backup

Optimum controller for handling and assembly

Custom-made functions and windows can be created for various purposes and users.

Open controller

* :

Note :MOTOMAN Simulator Enhanced Graphics

ROBCAD is a registered trademark of UGS Corp.IGRIP is a registered trademark of DELMIA Corp.

**

12

::For the MOTOMAN-MH3F, -MH5F, or -MH5LFFor the MOTOMAN-MH6F or -HP20F

Fits in a 19-inch rack and can be installed under conveyors.

Improved performance and high-speed control obtained by improving resolutions for I/O commands as well as by reducing time for ladder scanning.

High-speed positioning achieved by suppressing vibration of hands.

Commands specifically designed for workpiece handling with synchronized conveyors.

Programming pendant

IP54 protective structure

External axis (max.: 2 axes)

I/O module (28 points, NPN or PNP)

Counter module (2 channels)

Analog I/O module (8 channels)

Major fieldbus interface boards

DeviceNet (master/slave), CC-Link (slave), PROFIBUS (slave), Ethernet/IP (slave, I/O communications)

Items

Configuration

Dimensions

Mass

Cooling System

Ambient

Temperature

Relative Humidity

Power Supply

Grounding

Digital l/Os

Positioning System

Programming

Capacity

Expansion Slots

LAN (Connection to Host)

Interface

Control Method

Drive Units

Painting Color

Standard: IP20 (open structure), Option: IP54 (dustproof housing)

470 (W)×420 (D)×200 (H) mm (Protrusions are not included.)

20 kg

Direct cooling

During operation: 0˚C to +40˚C

During storage : ‒10˚C to +60˚C

90% max. (non-condensing)

Single-phase 200/230 VAC (+10% to ‒15%), 50/60 Hz*1

Three-phase 200/220 VAC (+10% to ‒15%), 50/60 Hz*2

Grounding resistance: 100 Ω or less

Specialized signals: 10 inputs and 1 output

General signals : 28 inputs and 28 outputs

Max. I/O (optional) : 1,024 inputs and 1,024 outputs

By serial encoder

JOB: 10,000 steps, 1,000 instructions

CIO ladder: 1,500 steps

MP2000 bus × 5 slots

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

RS-232C: 1ch

Software servo control

Six axes for robots

Two more axes can be added as external axes. (Can be installed in the controller.)

Munsell notation 5Y7/1 (reference value)

Items

Dimensions

Mass

Material

Operation

Device

Display

IEC Protection Class

Cable Length

169 (W)×314.5 (H)×50 (D) mm

0.990 kg

Reinforced plastics

Select keys, axis keys (8 axes), numerical/application

keys, Mode switch with key (mode: teach, play, and

remote), emergency stop button, enable switch, compact

flash card interface device (compact flash is optional.),

USB port (1 port)

640×480 pixels color LCD, touch panel

(Alphanumeric characters, Chinese characters, Japanese letters, Others)

IP65

Standard: 8 m, optional: 20 m max.

SpecificationsSpecifications

Note: A programming pendant or a dummy connector is required with the FS100. (Sold separately.)

Programming pendant (model: JZRCR-YPP03-1) For maintenance, the programming pendant is required. One programming pendant can be used with more than one controller.

Dummy connector (model: CBL-FRC063-1)

The dummy connector must be inserted when the programming pendant is not connected or when the software pendant is used.

The programming pendant (YPP01-1) for a DX100 controller cannot be connected to the FS100 controller because of differences in their specifications.

7

Small-MOTOMAN Series

LITERATURE NO. KAEP C940440 06C

Published in Japan February 2012 05-11 2

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

© 2005-2012 YASKAWA ELECTRIC CORPORATION. All rights reserved.

YASKAWA ELECTRIC CORPORATION

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

Sales Department

12-1-29

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

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

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

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

YASKAWA Electric (China) Co., Ltd.12F, Carlton Bldg., No.21 HuangHe Road, HuangPu District, Shanghai 200003, ChinaPhone: +86-21-5385-2200 Fax: +86-21-5385-3299

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

YASKAWA Robotics India Limited#426, Udyog Vihar Phase-IV, Gurgaon, Haryana, IndiaPhone: +91-124-475-8500 Fax: +91-124-475-8542

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

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

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

robot optimized for handling small motoman series...5.39 nxm 5.39 nxm 2.94 nxm 0.1 kgxm2 0.1 kgxm2...

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