Handling & assembly - Eurosald€¦ · 1-phase 200/230 VAC at 50/60 Hz digital i/O Card 1: 28 inputs/28 outputs (16 standard/12 system) (Expandable to 1024 inputs/1024 outputs) Card

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


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


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


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)



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 reliability. Dynamic interference zones protect the robot arm and provide advanced collision avoidance. The Advanced Robot Motion (ARM) control provides high performance, 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


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


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)



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


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


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


specifications es200Rd ii

axesmaximum

motion range[ º ]

maximumspeed

[ º/sec.]

allowablemoment

[ nm]


[ kg · m2 ]

Controlled axes 6





R ±360 120 1344 143 Humidity [%] 20 – 80

b ±125 120 1344 143 Weight [ kg ] 1800


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


P

B

A

C

8 x M12,depth 24

1 x Air



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 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


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


P-point200kg

130kg

80kg

100kg

60kg

165kg



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


specifications sia5F

axesmaximum

motion range[ º ]

maximumspeed

[ º/sec.]

allowablemoment

[ nm]


[ 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


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


Mountingoptions:Floor,wall,ceiling

0 200

5kg

3kg2kg

400

200

600

300

100P-point


R-, T-axiscentre of rotation

148

LT

LB



axesmaximum

motion range[ º ]

maximumspeed

[ º/sec.]

allowablemoment

[ nm]



s ±180 170 – – max. payload [ kg ] 10



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


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°


B

C

P

118

165


2 x Air

10kg

5kg

3kg

155

P-point


R-, T-axiscentreof rotation

600

800

400

200

600400200 800 1000 1200

LT

LB

View a

mOTOman sia10F

View b

View C





axesmaximum

motion range[ º ]

maximumspeed

[ º/sec.]

allowablemoment

[ nm]



s ±180 130 – – max. payload [ kg ] 20




R ±180 200 58.8 4.0 Humidity [%] 20 – 80

b ±110 200 58.8 4.0 Weight [ kg ] 120


268

165


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


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


R-, T-axiscentreof rotation

600

800

400

200

600400 800 1000

LT

LB

View a


mOTOman sia20F

View b

View C



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


specifications sda5F

axesmaximum

motion range[ º ]

maximumspeed

[ º/sec.]

allowablemoment

[ nm]


[ kg · m2 ]

Rotation ±170 180 – – Controlled axes 15

s –90/+270 200 – – max. payload [ kg ] 5


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


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


LB

LT




axesmaximum

motion range[ º ]

maximumspeed

[ º/sec.]

allowablemoment

[ nm]


[ kg · m2 ]


s ±180 170 – – max. payload [ kg ] 10




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


200

10kg

5kg

3kg

400 600 800 1000 1200

800

400

600

200P-point



155LB

LT




axesmaximum

motion range[ º ]

maximumspeed

[ º/sec.]

allowablemoment

[ nm]


[ kg · m2 ]


s ±180 130 – – max. payload [ kg ] 20




R ±180 200 58.8 4.0 Humidity [%] 20 – 80

b ±110 200 58.8 4.0 Weight [ kg ] 380


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


P R2

P R1

View a


mOTOman sda20F

View b

View C


16kg

20kg

10kg

5kg

800

400

200

600

LT

LB600 800400 1000

180

P-point




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


specifications HP20F

axesmaximum

motion range[ º ]

maximumspeed

[ º/sec.]

allowablemoment

[ nm]


[ kg · m2 ]

Controlled axes 6





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


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

)


is ideal for lab automation, education and research applications. The base width of only 170 mm allows it to be mounted in confined 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


specifications mH3F

axesmaximum

motion range[ º ]

maximumspeed

[ º/sec.]

allowablemoment

[ nm]


[ kg · m2 ]

Controlled axes 6





R ±170 300 5.39 0.10 Humidity [%] 20 – 80

b ±120 300 5.39 0.10 Weight [ kg ] 27


R104

R188

R532160°

160°


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


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


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


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


specifications mH5s ii, mH5F

axesmaximum

motion range[ º ]

maximumspeed

[ º/sec.]

allowablemoment

[ nm]


[ kg · m2 ]

Controlled axes 6





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


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


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


mOTOman mH5s ii, mH5F

View b

View C

View d

5kg

3kg

1.5kg

300

100

141

182200

258

0 500447

400316

300244

200


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


specifications mH5ls ii, mH5lF

axesmaximum

motion range[ º ]

maximumspeed

[ º/sec.]

allowablemoment

[ nm]


[ kg · m2 ]

Controlled axes 6


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


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


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


mOTOman mH5ls ii, mH5lF

View b

View C

View d

5kg

3kg

1.5kg

300

100

141

182200

258

0 500447

400316

300244

200


T-axiscentre of rotation

P-point

LT

LB


Please note ceiling mounting option(mH5ls ii):Depends on B-axisposition



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


specifications mH6sF, mH6sF-10

axesmaximum

motion range [ º ]

maximumspeed

[ º/sec.]mH6sF / mH6sF-10

allowablemoment

[ nm]mH6sF / mH6sF-10


[ 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


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°


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


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


P-point


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


specifications mH6F

axesmaximum

motion range[ º ]

maximumspeed

[ º/sec.]

allowablemoment

[ nm]


[ kg · m2 ]

Controlled axes 6





R ±180 410 11.8 0.27 Humidity [%] 20 – 80

b +225/–45 410 9.8 0.27 Weight [ kg ] 130



2 x Air


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


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


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


P-point


Thehollowshaftstructureisadoptedtotheupper-arm.Bystoringthe cables in the arm, operation restriction due to the cable interference 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 purpose 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 performance in its class, YASKAWA is contributing to the productivity development.

Controlled by

DX200Controlled by

FS100


specifications mH12, mH12F

axesmaximum

motion range[ º ]

maximumspeed

[ º/sec.]

allowablemoment

[ nm]


[ kg · m2 ]

Controlled axes 6





R ±180 410 22 0.65 Humidity [%] 20 – 80

b ±135 410 22 0.65 Weight [ kg ] 130


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


P

B

C

A

B

S

T

R

L

U

2 x Air


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


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



Please note ceiling mounting option:Depends on B-axisposition


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


specifications mH24

axesmaximum

motion range[ º ]

maximumspeed

[ º/sec.]

allowablemoment

[ nm]


[ kg · m2 ]

Controlled axes 6





R ±200 410 50.0 2.1 Humidity [%] 20 – 80

b ±150 410 50.0 2.1 Weight [ kg ] 268


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


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


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


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


specifications mH50 ii

axesmaximum

motion range[ º ]

maximumspeed

[ º/sec.]

allowablemoment

[ nm]


[ kg · m2 ]

Controlled axes 6





R ±360 250 216 28 Humidity [%] 20 – 80

b ±125 250 216 28 Weight [ kg ] 550


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


234234

A

B

C

TRU

S

L

B

1 x Air


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


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


R543R2061

50 50

200611.5

10098.5

5050

4 x M8, depth 16

R377

4 x M8, depth 16

View a


mOTOman mH50 ii

View b

View C



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


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 featuring an extended reach for large parts. It offers superior performance in arc welding, coating, gluing, dispensing, material cutting and material handling applications.

Controlled by

DX200


specifications mH50-20 ii

axesmaximum

motion range[ º ]

maximumspeed

[ º/sec.]

allowablemoment

[ nm]


[ kg · m2 ]

Controlled axes 6





R ±190 400 39.2 1.05 Humidity [%] 20 – 80

b ±230/–50 400 39.2 1.05 Weight [ kg ] 495


1 x Air


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


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


PR

S

L

TU B

253349

1 x Air


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



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)


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



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 featuring an extended reach for large parts. It offers superior performance in laser welding, coating, dispensing, gluing, material cutting and material handling applications.


specifications mH50-35 ii

axesmaximum

motion range[ º ]

maximumspeed

[ º/sec.]

allowablemoment

[ nm]


[ kg · m2 ]

Controlled axes 6





R ±360 250 147 10 Humidity [%] 20 – 80

b ±125 250 147 10 Weight [ kg ] 570


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


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


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


View a


View b

View C



10kg

20kg

30kg

35kg

LT

200

400 600 800

400

600

1000LB

P-point



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)


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 performance in material handling, machine tending, processing and dispending applications.

Controlled by

DX200



axesmaximum

motion range[ º ]

maximumspeed

[ º/sec.]

allowablemoment

[ nm]


[ kg · m2 ]

Controlled axes 6


s ±180 170 – – Repeat. pos. accuracy [ mm ] ±0,07


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


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


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


P

View a


mOTOman mH80 ii

View b

View C

P-point


B-axis centre of rotation

LT

LB

200 400 600 800

400

200

200

400

50 kg

60 kg 70 kg80 kg


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


specifications mH110

axesmaximum

motion range[ º ]

maximumspeed

[ º/sec.]

allowablemoment

[ nm]


[ kg · m2 ]

Controlled axes 6





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



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


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


mOTOman mH110

800

600

400

200

400 600 800 1000 1200 1400 1600

P-point

LB

50 kg60 kg

80 kg110 kg



LT

View a

View b

View C


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


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



axesmaximum

motion range[ º ]

maximumspeed

[ º/sec.]

allowablemoment

[ nm]


[ kg · m2 ]

Controlled axes 6





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


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


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 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



LB

LT


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


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



axesmaximum

motion range[ º ]

maximumspeed

[ º/sec.]

allowablemoment

[ nm]


[ kg · m2 ]

Controlled axes 6





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


1 x Air


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


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


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



LB

LT


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)


The MOTOMAN MH280 II is a versatile, high-speed 6-axis robot offering superior performance in material handling, machine tending 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



axesmaximum

motion range[ º ]

maximumspeed

[ º/sec.]

allowablemoment

[ nm]


[ kg · m2 ]

Controlled axes 6




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




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





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


The 6-axis MOTOMAN MH400 II is a versatile, powerful robot offering 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



axesmaximum

motion range[ º ]

maximumspeed

[ º/sec.]

allowablemoment

[ nm]


[ kg · m2 ]

Controlled axes 6




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


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)


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


E

View a


mOTOman mH400 ii

View b

View C

View d

600 800 1000 1200 1400 1600 1800 2000



LB

LT

P-point

1000

800

600

400

200

200 kg

150 kg

250 kg300 kg

400 kg350 kg


[email protected]

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

YASKAWA GROUPA YASKAWA Austria

Schwechat/Wien +43(0)1-707-9324-15

CZ YASKAWA Czech s.r.o.Rudná u Prahy +420-257-941-718

E YASKAWA Ibérica, S.L.Gavà/Barcelona+34-93-6303478

F YASKAWA France SARL Saint-Aignan-de-Grand-Lieu+33-2-40131919

FIN YASKAWA Finland OyTurku+358-(0)-403000600

GB YASKAWAUKLtd.Banbury+44-1295-272755

I YASKAWA Italia s.r.l.Torino +39-011-9005833

IL YASKAWA Europe Technology Ltd.Rosh Ha’ayin +972-3-9004114

NL YASKAWABeneluxB.V.EBSon+31-40-2895500

RUS YASKAWANordicABMoskva +46-480-417-800

SE YASKAWANordicABTorsås +46-480-417-800

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

Documents

Handling & assembly - Eurosald€¦ · 1-phase 200/230 VAC at 50/60 Hz digital i/O Card 1: 28 inputs/28 outputs (16 standard/12 system) (Expandable to 1024 inputs/1024 outputs) Card