Instructivo de Motoman Brazo Robotico YASKAHUA

MOTOMAN-MH12
INSTRUCTIONS
TYPE:
YR-MA1440/MH12-A00 (STANDARD SPECIFICATION)
YR-MA1440/MH12-A02 (TWO AIR LINES SPECIFICATION)
Upon receipt of the product and prior to initial operation, read these instructions thoroughly, and
retain for future reference.
MOTOMAN INSTRUCTIONS
MOTOMAN-MH12 INSTRUCTIONS
DX200 INSTRUCTIONS
DX200 OPERATOR’S MANUAL (for each purpose)
DX200 MAINTENANCE MANUAL
FS100 INSTRUCTIONS
FS100 OPERATOR’S MANUAL
FS100 MAINTENANCE MANUAL
The DX200 or FS100 operator’s manual above corresponds to specific usage.
Be sure to use the appropriate manual.
Part Number: 167105-1CD

Revision: 4
MANUAL NO.
HW1481305 7
1 of 103
167105-1CD
MH12
Copyright © 2017, 2016, 2015, 2013 YASKAWA America, Inc.
Terms of Use and Copyright Notice

All rights reserved. This manual is freely available as a service to
YASKAWA customers to assist in the operation of Motoman robots,
related equipment and software This manual is copyrighted property of
YASKAWA and may not be sold or redistributed in any way. You are
welcome to copy this document to your computer or mobile device for
easy access but you may not copy the PDF files to another website, blog,
cloud storage site or any other means of storing or distributing online
content.
Printed in the United States of America
First Printing, 2013
YASKAWA America, Inc.

Motoman Robotics Division
100 Automation Way
Miamisburg, OH 45342
Phone: 937-847-6200
www.motoman.com
ii HW1481305 2 of 103
167105-1CD
MH12
MANDATORY
• This instruction manual is intended to explain mainly on the
mechanical part of the MOTOMAN-MH12 for the application to the
actual operation and for proper maintenance and inspection. It
describes on safety and handling, details on specifications,
necessary items on maintenance and inspection, to explain
operating instructions and maintenance procedures. Be sure to
read and understand this instruction manual thoroughly before
installing and operating the manipulator.
• General items related to safety are listed in Chapter 1: Safety of the
DX200/FS100 Instructions. To ensure correct and safe operation,
carefully read the DX200/FS100 Instructions before reading this
manual.
CAUTION
• Some drawings in this manual are shown with the protective covers
or shields removed for clarity. Be sure all covers and shields are
replaced before operating this product.
• The drawings and photos in this manual are representative
examples and differences may exist between them and the
delivered product.
• YASKAWA may modify this model without notice when necessary
due to product improvements, modifications, or changes in
specifications. If such modification is made, the manual number will
also be revised.
• If your copy of the manual is damaged or lost, contact a YASKAWA
representative to order a new copy. The representatives are listed
on the back cover. Be sure to tell the representative the manual
number listed on the front cover.
• YASKAWA is not responsible for incidents arising from unauthorized
modification of its products. Unauthorized modification voids your
product's warranty.
iii HW1481305 3 of 103

167105-1CD
MH12
We suggest that you obtain and review a copy of the ANSI/RIA National
Safety Standard for Industrial Robots and Robot Systems (ANSI/RIA
R15.06-2012). You can obtain this document from the Robotic Industries
Association (RIA) at the following address:
Robotic Industries Association
900 Victors Way
P.O. Box 3724
Ann Arbor, Michigan 48106
TEL: (734) 994-6088
FAX: (734) 994-3338
www.roboticsonline.com
Ultimately, well-trained personnel are the best safeguard against
accidents and damage that can result from improper operation of the
equipment. The customer is responsible for providing adequately trained
personnel to operate, program, and maintain the equipment. NEVER
ALLOW UNTRAINED PERSONNEL TO OPERATE, PROGRAM, OR
REPAIR THE EQUIPMENT!
We recommend approved YASKAWA training courses for all personnel
involved with the operation, programming, or repair of the equipment.
This equipment has been tested and found to comply with the limits for a
Class A digital device, pursuant to part 15 of the FCC rules. These limits
are designed to provide reasonable protection against harmful
interference when the equipment is operated in a commercial
environment. This equipment generates, uses, and can radiate radio
frequency energy and, if not installed and used in accordance with the
instruction manual, may cause harmful interference to radio
communications.
iv HW1481305 4 of 103
167105-1CD
MH12 Notes for Safe Operation
Notes for Safe Operation

Read this manual carefully before installation, operation, maintenance, or
inspection of the MOTOMAN-MH12.
In this manual, the Notes for Safe Operation are classified as “DANGER”,
“WARNING”, “CAUTION”, “MANDATORY”, or “PROHIBITED”.
Indicates an imminent hazardous

DANGER situation which, if not avoided, could
result in death or serious injury to
personnel.
Indicates a potentially hazardous

WARNING situation which, if not avoided, could
result in death or serious injury to
personnel.
Indicates a potentially hazardous

CAUTION situation which, if not avoided, could
result in minor or moderate injury to
personnel and damage to
equipment. It may also be used to
alert against unsafe practices.
Always be sure to follow explicitly

MANDATORY the items listed under this heading.
PROHIBITED Must never be performed.
Even items described as “CAUTION” may result in a serious accident in

some situations.
At any rate, be sure to follow these important items.
To ensure safe and efficient operation at all times, be sure

NOTE to follow all instructions, even if not designated as
“DANGER”, “WARNING” and “CAUTION” .
DANGER
• Maintenance and inspection must be performed by specified
personnel.
Failure to observe this caution may result in electric shock or injury.
• For disassembly or repair, contact your YASKAWA representative.
• Do not remove the motor, and do not release the brake.
Failure to observe these safety precautions may result in death or
serious injury from unexpected turning of the manipulator's arm.
v HW1481305 5 of 103
167105-1CD
<DX200>
WARNING
• Before operating the manipulator, check that servo power is turned
OFF pressing the emergency stop buttons on the front door of the
DX200 and the programming pendant.
When the servo power is turned OFF, the SERVO ON LED on the
programming pendant is turned OFF.
Injury or damage to machinery may result if the emergency stop circuit
cannot stop the manipulator during an emergency. The manipulator
should not be used if the emergency stop buttons do not function.
Fig. : Emergency Stop Button
• Once the emergency stop button is released, clear the cell of all
items which could interfere with the operation of the manipulator.
Then turn the servo power ON.
Injury may result from unintentional or unexpected manipulator motion.
Fig. : Release of Emergency Stop
TURN
• Observe the following precautions when performing teaching

operations within the P-point maximum envelope of the
manipulator:
– Be sure to use a lockout device to the safeguarding when going
inside. Also, display the sign that the operation is being
performed inside the safeguarding and make sure no one closes
the safeguarding.
– View the manipulator from the front whenever possible.
– Always follow the predetermined operating procedure.
– Keep in mind the emergency response measures against the
manipulator’s unexpected motion toward you.
– Ensure that you have a safe place to retreat in case of
emergency.
Improper or unintended manipulator operation may result in injury.
• Confirm that no person is present in the P-point maximum envelope
of the manipulator and that you are in a safe location before:
– Turning ON the power for the DX200.
– Moving the manipulator with the programming pendant.
– Running the system in the check mode.
– Performing automatic operations.
Injury may result if anyone enters the P-point maximum envelope of the
manipulator during operation. Always press an emergency stop button
immediately if there is a problem.
The emergency stop buttons are located on the right of front door of the
DX200 and the programming pendant.
vi HW1481305 6 of 103
167105-1CD
<FS100>
WARNING
• Before operating the manipulator, check that servo power is turned
OFF when the emergency stop button on the programming pendant
is pressed.
When the servo power is turned OFF, the SERVO ON LED on the
programing pendant is turned OFF.
Injury or damage to machinery may result if the emergency stop circuit
cannot stop the manipulator during an emergency. The manipulator
should not be used if the emergency stop button does not function.
Fig. : Emergency Stop Button
• In the case of not using the programming pendant, be sure to

supply the emergency stop button on the equipment. Then before
operating the manipulator, check to be sure that the servo power is
turned OFF by pressing the emergency stop button.
Connect the external emergency stop button to the 5-6 pin and 16-
17 pin of the robot system signal connector (CN2).
• Upon shipment of the FS100, this signal is connected by a jumper

cable in the dummy connector. To use the signal, make sure to
supply a new connector, and then input it.
If the signal is input with the jumper cable connected, it does not
function, which may result in personal injury or equipment damage.
• Once the emergency stop button is released, clear the cell of all
items which could interfere with the operation of the manipulator.
Then turn the servo power ON.
Injury may result from unintentional or unexpected manipulator motion.
Fig. : Release of Emergency Stop Button
TURN
• Observe the following precautions when performing teaching

operations within the manipulator’s operating range:
– Be sure to use a lockout device to the safeguarding when going
inside.
Also, display the sign that the operation is being performed inside
the safeguarding and make sure no one closes the safeguarding.
– View the manipulator from the front whenever possible.
– Always follow the predetermined operating procedure.
– Keep in mind the emergency response measures against the
manipulator’s unexpected motion toward you.
– Ensure that you have a safe place to retreat in case of
emergency.
Improper or unintended manipulator operation may result in injury.
vii HW1481305 7 of 103

167105-1CD
WARNING
• Confirm that no person is present in the manipulator’s operating
range and that you are in a safe location before:
– Turning ON the power for the DX200/FS100.
– Moving the manipulator with the programming pendant.
– Running the system in the check mode.
– Performing automatic operations.
Injury may result if anyone enters the manipulator’s operating range
during operation. Always press an emergency stop button immediately
if there are problems.
The emergency stop button is located on the programing pendant.
CAUTION
• Perform the following inspection procedures prior to conducting
manipulator teaching. If problems are found, repair them
immediately,
and be sure that all other necessary processing has been
performed.
– Check for problems in manipulator movement.
– Check for damage to insulation and sheathing of external wires.
• Always return the programming pendant to the hook on the cabinet
of the DX200/FS100 after use.
The programming pendant can be damaged if it is left in the
manipulator's work area, on the floor, or near fixtures.
• Read and understand the Explanation of Warning Labels in the
DX200/FS100 Instructions before operating the manipulator:
viii HW1481305 8 of 103

167105-1CD
MH12 Definition of Terms Used Often in This Manual (DX200)
Definition of Terms Used Often in This Manual (DX200)

The MOTOMAN is the YASKAWA industrial robot product.
The MOTOMAN usually consists of the manipulator, the controller, the
programming pendant, and supply cables.
In this manual, the equipment is designated as follows:
Equipment Manual Designation
DX200 controller DX200
DX200 programming pendant Programming pendant
Cable between the manipulator and the Manipulator cable
controller
Definition of Terms Used Often in This Manual (FS100)

The MOTOMAN is the YASKAWA industrial robot product.
The MOTOMAN usually consists of the manipulator, the FS100 controller,
manipulator cables, the FS100 programming pendant (optional), and the
FS100 programming pendant dummy connector (optional).
In this manual, the equipment is designated as follows:
Equipment Manual Designation
FS100 controller FS100
FS100 programming pendant Programming pendant
Cable between the manipulator and Manipulator Cable
the controller
FS100 programming pendant Programming pendant
dummy connector dummy connector
Description of the Operation Procedure

In the explanation of the operation procedure, the expression “Select • • •”
means that the cursor is moved to the object item and the SELECT key is
pressed, or that the item is directly selected by touching the screen.
Registered Trademark
In this manual, names of companies, corporations, or products are
trademarks, registered trademarks, or bland names for each company or
corporation. The indications of (R) and TM are omitted.
ix HW1481305 9 of 103
167105-1CD
MH12 Explanation of Warning Labels
Explanation of Warning Labels

The following warning labels are attached to the manipulator.
Always follow the warnings on the labels.
Also, an identification label with important information is placed on the
body of the manipulator. Prior to operating the manipulator, confirm the
contents.
Note: Taking the maintenance-relevant trainings offered by YASKAWA is

indispensable for replacing the L-axis of the balancer-equipped
manipulator.
Fig. : Warning Label Locations
WARNING Label B WARNING Label A
Nameplate
%&
%&
%&
PP1㺃P
<%
9$

Nameplate: WARNING Label A:
MODEL
WARNING
MOTOMAN-
TYPE Moving parts
may cause
PAYLOAD MASS
kg kg injury
ORDER NO. DATE
SERIAL NO.
YASKAWA ELECTRIC CORPORATION WARNING Label B:

2-1 Kurosakishiroishi, Yahatanishi-ku,
Kitakyushu 806-0004 Japan
MADE IN JAPAN NJ3878
WARNING
Do not enter
robot
work area.
x HW1481305 10 of 103
167105-1CD
MH12 Safeguarding Tips
Safeguarding Tips
All operators, programmers, maintenance personnel, supervisors, and
anyone working near the system must become familiar with the operation
of this equipment. All personnel involved with the operation of the
equipment must understand potential dangers of operation. General
safeguarding tips are as follows:
• Improper operation can result in personal injury and/or damage to
the equipment. Only trained personnel familiar with the operation of
this equipment, the operator's manuals, the system equipment, and
options and accessories should be permitted to operate this
equipment.
• Improper connections can damage the equipment. All connections
must be made within the standard voltage and current ratings of the
equipment.
• The system must be placed in Emergency Stop (E-Stop) mode
whenever it is not in use.
• In accordance with ANSI/RIA R15.06-2012, section 4.2.5, Sources of
Energy, use lockout/tagout procedures during equipment
maintenance. Refer also to Section 1910.147 (29CFR, Part 1910),
Occupational Safety and Health Standards for General Industry
(OSHA).
Mechanical Safety Devices

The safe operation of this equipment is ultimately the users responsibility.
The conditions under which the equipment will be operated safely should
be reviewed by the user. The user must be aware of the various national
codes, ANSI/RIA R15.06-2012 safety standards, and other local codes
that may pertain to the installation and use of this equipment.
Additional safety measures for personnel and equipment may be required
depending on system installation, operation, and/or location. The following
safety equipment is provided as standard:
• Safety barriers
• Door interlocks
• Emergency stop palm buttons located on operator station
Check all safety equipment frequently for proper operation. Repair or
replace any non-functioning safety equipment immediately.
xi HW1481305 11 of 103
167105-1CD
MH12 Programming, Operation, and Maintenance Safety
Programming, Operation, and Maintenance Safety

All operators, programmers, maintenance personnel, supervisors, and
anyone working near the system must become familiar with the operation
of this equipment. Improper operation can result in personal injury and/or
damage to the equipment. Only trained personnel familiar with the
operation, manuals, electrical design, and equipment interconnections of
this equipment should be permitted to program, or maintain the system.
All personnel involved with the operation of the equipment must
understand potential dangers of operation.
• Inspect the equipment to be sure no potentially hazardous conditions
exist. Be sure the area is clean and free of water, oil, debris, etc.
• Be sure that all safeguards are in place. Check all safety equipment
for proper operation. Repair or replace any non-functioning safety
equipment immediately.
• Check the E-Stop button on the operator station for proper operation
before programming. The equipment must be placed in Emergency
Stop (E-Stop) mode whenever it is not in use.
• Back up all programs and jobs onto suitable media before program
changes are made. To avoid loss of information, programs, or jobs, a
backup must always be made before any service procedures are
done and before any changes are made to options, accessories, or
equipment.
• Any modifications to the controller unit can cause severe personal
injury or death, as well as damage to the robot! Do not make any
modifications to the controller unit. Making any changes without the
written permission from YASKAWA will void the warranty.
• Some operations require a standard passwords and some require
special passwords.
• The equipment allows modifications of the software for maximum
performance. Care must be taken when making these modifications.
All modifications made to the software will change the way the
equipment operates and can cause severe personal injury or death,
as well as damage parts of the system. Double check all
modifications under every mode of operation to ensure that the
changes have not created hazards or dangerous situations.
• This equipment has multiple sources of electrical supply. Electrical
interconnections are made between the controller and other
equipment. Disconnect and lockout/tagout all electrical circuits
before making any modifications or connections.
• Do not perform any maintenance procedures before reading and
understanding the proper procedures in the appropriate manual.
• Use proper replacement parts.
• Improper connections can damage the equipment. All connections
must be made within the standard voltage and current ratings of the
equipment.
xii HW1481305 12 of 103

167105-1CD
MH12 Maintenance Safety
Maintenance Safety
Turn the power OFF and disconnect and lockout/tagout all electrical
circuits before making any modifications or connections.
Perform only the maintenance described in this manual. Maintenance
other than specified in this manual should be performed only by
YASKAWA-trained, qualified personnel.
Summary of Warning Information

This manual is provided to help users establish safe conditions for
operating the equipment. Specific considerations and precautions are also
described in the manual, but appear in the form of Dangers, Warnings,
Cautions, and Notes.
It is important that users operate the equipment in accordance with this
instruction manual and any additional information which may be provided
by YASKAWA. Address any questions regarding the safe and proper
operation of the equipment to YASKAWA Customer Support.
xiii HW1481305 13 of 103

167105-1CD
MH12 Customer Support Information
Customer Support Information

If you need assistance with any aspect of your MH12 system, please
contact YASKAWA Customer Support at the following 24-hour telephone
number:
(937) 847-3200
For routine technical inquiries, you can also contact YASKAWA Customer
Support at the following e-mail address:
techsupport@motoman.com
When using e-mail to contact YASKAWA Customer Support, please

provide a detailed description of your issue, along with complete contact
information. Please allow approximately 24 to 36 hours for a response to
your inquiry.
Please use e-mail for routine inquiries only. If you have an

NOTE urgent or emergency need for service, replacement parts,
or information, you must contact YASKAWA Customer
Support at the telephone number shown above.
Please have the following information ready before you call Customer
Support:
• System MH12
• Primary Application ___________________________
• Controller DX200/DX100
• Software Version Access this information on the

Programming Pendant’s LCD
display screen by selecting {MAIN
MENU} - {SYSTEM INFO} -
{VERSION}
• Robot Serial Number Located on the robot data plate
• Robot Sales Order Number Located on the DX200/DX100

controller data plate
xiv HW1481305 14 of 103

167105-1CD
MH12 Table of Contents
Table of Contents
1 Product Confirmation ...................................................................................................................... 1-1
1.1 Contents Confirmation ....................................................................................................... 1-1
1.2 Order Number Confirmation .............................................................................................. 1-2
2 Transport......................................................................................................................................... 2-1
2.1 Transport Method .............................................................................................................. 2-1
2.1.1 Using a Crane ...................................................................................................... 2-2
2.1.2 Using a Forklift...................................................................................................... 2-2
2.2 Shipping Bolts and Brackets.............................................................................................. 2-3
2.3 Cushioning Material for Transport ..................................................................................... 2-4
3 Installation....................................................................................................................................... 3-1
3.1 Safeguarding Installation ................................................................................................... 3-2
3.2 Mounting Procedures for Manipulator Base ...................................................................... 3-2
3.2.1 Mounting Example................................................................................................ 3-4
3.3 Mounting method ............................................................................................................... 3-5
3.3.1 S-Axis Operating Range....................................................................................... 3-5
3.3.2 Fixing the Manipulator Base ................................................................................. 3-5
3.3.3 Precautions to Prevent the Manipulator from Falling............................................ 3-5
3.4 Location ............................................................................................................................. 3-6
4 Wiring.............................................................................................................................................. 4-1
4.1 Grounding .......................................................................................................................... 4-2
4.2 Cable Connection .............................................................................................................. 4-3
4.2.1 Connection to the Manipulator.............................................................................. 4-3
4.2.2 Connection to the DX200/FS100.......................................................................... 4-3
5 Basic Specifications ........................................................................................................................ 5-1
5.1 Basic Specifications........................................................................................................... 5-1
5.2 Part Names and Working Axes.......................................................................................... 5-2
5.3 Manipulator Base Dimensions ........................................................................................... 5-2
5.4 Dimensions and P-Point Maximum Envelope.................................................................... 5-3
xv HW1481305 15 of 103
167105-1CD
5.5 Stopping Angles and Times for S-, L- and U-Axes (DX200).............................................. 5-4
5.5.1 Stop Category 0: Stopping Angles and Times...................................................... 5-4

5.5.1.1 Position 100% ......................................................................................... 5-4
5.5.1.2 Position 66% ........................................................................................... 5-5
5.5.1.3 Position 33% ........................................................................................... 5-6
5.5.2 Stop Category 1: Stopping Angles and Times...................................................... 5-7

5.5.2.1 Position100% .......................................................................................... 5-7
5.5.2.2 Position 66% ........................................................................................... 5-8
5.5.2.3 Position 33% ........................................................................................... 5-9
5.6 Stopping Angles and Times for S-, L- and U-Axes (FS100) ............................................ 5-10
5.6.1 Stop Category 0: Stopping Angles and Times.................................................... 5-10

5.6.1.1 Position 100% ....................................................................................... 5-10
5.6.1.2 Position 66% ......................................................................................... 5-11
5.6.1.3 Position 33% ......................................................................................... 5-12
5.6.2 Stop Category 1: Stopping Angles and Times.................................................... 5-13

5.6.2.1 Position100% ........................................................................................ 5-13
5.6.2.2 Position 66% ......................................................................................... 5-14
5.6.2.3 Position 33% ......................................................................................... 5-15
5.7 Alterable Operating Range .............................................................................................. 5-16
5.7.1 Components for Altering Operating Range......................................................... 5-16
5.7.2 Notes on the Mechanical Stopper Installation .................................................... 5-17
5.7.3 Adjustment to the Pulse Limitation of S-Axis ...................................................... 5-17
6 Allowable Load for Wrist Axis and Wrist Flange ............................................................................. 6-1
6.1 Allowable Wrist Load ......................................................................................................... 6-1
6.2 Wrist Flange....................................................................................................................... 6-2
7 System Application.......................................................................................................................... 7-1
7.1 Peripheral Equipment Mounts............................................................................................ 7-1
7.1.1 Allowable Load ..................................................................................................... 7-1
7.1.2 Installation Position............................................................................................... 7-1
7.2 Internal User I/O Wiring Harness and Air Line................................................................... 7-2
8 Electrical Equipment Specification .................................................................................................. 8-1
8.1 Position of Limit Switch ...................................................................................................... 8-1
8.2 Position of Servo ON Lamp ............................................................................................... 8-2
8.3 Internal Connections .......................................................................................................... 8-3
xvi HW1481305 16 of 103

167105-1CD
9 Maintenance and Inspection ........................................................................................................... 9-1
9.1 Inspection Schedule .......................................................................................................... 9-1
9.2 Notes on Maintenance Procedures ................................................................................... 9-5
9.2.1 Battery Pack Replacement ................................................................................... 9-5
9.3 Notes on Grease Replenishment/Exchange Procedures .................................................. 9-6
9.3.1 Grease Replenishment/Exchange for S-Axis Speed Reducer ............................. 9-7

9.3.1.1 Grease Replenishment............................................................................ 9-7
9.3.1.2 Grease Exchange ................................................................................... 9-8
9.3.2 Grease Replenishment/Exchange for L-Axis Speed Reducer.............................. 9-9

9.3.2.1 Grease Exchange ................................................................................... 9-9
9.3.2.2 Grease Exchange ................................................................................. 9-10
9.3.3 Grease Replenishment/Exchange for U-Axis Speed Reducer ........................... 9-12

9.3.3.1 Grease Replenishment.......................................................................... 9-12
9.3.3.2 Grease Exchange ................................................................................. 9-14
9.3.4 Grease Replenishment for R-Axis Speed Reducer ............................................ 9-15
9.3.5 Grease Replenishment for B-Axis Speed Reducer ............................................ 9-16
9.3.6 Grease Replenishment for T-Axis Gear ............................................................. 9-17
9.3.7 Grease Replenishment for R-Axis Gear ............................................................. 9-19
9.3.8 Notes for Maintenance ....................................................................................... 9-21

9.3.8.1 Wrist Unit............................................................................................... 9-21
9.3.8.2 Battery Pack Connection....................................................................... 9-21
10 Recommended Spare Parts........................................................................................................ 10-1
11 Parts List ..................................................................................................................................... 11-1
11.1 S-Axis Unit ..................................................................................................................... 11-1
11.2 L-Axis Unit ..................................................................................................................... 11-3
11.3 U-Axis Unit..................................................................................................................... 11-5
11.4 R-Axis Unit (Shipped in or After August 2014) .............................................................. 11-7
11.5 Wrist Unit ....................................................................................................................... 11-9
11.6 Gear Unit (No. 5040) ................................................................................................... 11-12
xvii HW1481305 17 of 103

167105-1CD
MH12 1 Product Confirmation

1.1 Contents Confirmation
1 Product Confirmation
CAUTION
• Confirm that the manipulator and the DX200/FS100 have the same
order number. Special care must be taken when more than one
manipulator is to be installed.
If the numbers do not match, manipulators may not perform as
expected and cause injury or damage.
1.1 Contents Confirmation

Confirm the contents of the delivery when the product arrives.
Standard delivery includes the following four items (information for the
content of optional goods are given separately):
• Manipulator
• DX200/FS100
• Programming pendant
• Manipulator cables (between the DX200/FS100 and the Manipulator)
1-1 HW1481305 18 of 103

167105-1CD
MH12 1 Product Confirmation
1.2 Order Number Confirmation
1.2 Order Number Confirmation

Check that the order number of the manipulator corresponds to the
DX200/FS100. The order number is located on a label as shown below.
Fig. 1-1: Location of Order Number Labels
Label (Enlarged View)
THE MANIPULATOR AND THE CONTROLLER

SHOULD HAVE SAME ORDER NUMBER.
Check that the manipulator
and the DX200/FS100 have the
ORDER NO.
same order number.
US
F
E
PROGRAMMING PENDANT
X81
CN
FBB
CN210 CN211
(c) FS100 (Front View)
(a) DX200 (Front View) (b) Manipulator (Top View)
1-2 HW1481305 19 of 103

167105-1CD
MH12 2 Transport
2.1 Transport Method
2 Transport
CAUTION
• Sling applications and crane or forklift operations must be
performed by authorized personnel only.
Failure to observe this caution may result in injury or damage.
• Avoid excessive vibration or shock during transport.
The system consists of precision components. Failure to observe this
caution may adversely affect performance.
• The weight of the manipulator is approximately 135 kg

including the shipping bolts and brackets. Use a wire rope
strong enough to withstand the weight.
NOTE • Mount the shipping bolts and brackets for transporting the
manipulator.
• Avoid putting external force on the arm or motor unit when
transporting by a crane, forklift, or other equipment.
Failure to observe this instruction may result in injury.
2-1 HW1481305 20 of 103

167105-1CD
MH12 2 Transport
2.1.1 Using a Crane

As a rule, the manipulator should be lifted by a crane with two wire ropes
when removing it from the package and moving it. Be sure that the
manipulator is fixed with the shipping bolts and brackets before transport,
and lift it in the posture as shown in Fig. 2-1 “Transporting Position”.
Fig. 2-1: Transporting Position
Shipping bolts
and bracket
View A
Shipping bolts
and bracket
A
1BC
2BC
B
hexagon socket
3BC
head cap screws M10X25

(2 screws)
Conical spring washer 2L-10
(2 washers)
2.1.2 Using a Forklift

When using a forklift, the manipulator should be fixed on a pallet with
shipping bolts as shown in Fig. 2-2 “Using a Forklift”. Insert claws under
the pallet and lift it. The pallet must be strong enough to support the
manipulator. Transport the manipulator slowly with due caution in order to
avoid overturning or slippage.
Fig. 2-2: Using a Forklift
Pallet Bolt M16 (4 places)
Forklift claw entries
2-2 HW1481305 21 of 103

167105-1CD
MH12 2 Transport
2.2 Shipping Bolts and Brackets
2.2 Shipping Bolts and Brackets

The manipulator is provided with two shipping bolts and a shipping
bracket. (See Fig. 2-4 “Cushioning Materials for Transport”.)
Fig. 2-3: Shipping Bolts and Brackets
Shipping bolts
Shipping bolts and bracket
and bracket
Hexagon socket Hexagon socket

head cap screws head cap screws
M10X25 (2 screws) M10X25 (2 screws)
Conical spring washer Conical spring washer
Front View 2L-10 (2 washers) Side View 2L-10 (2 washers)
Front View Side View
Through August 2016 After August 2016
• The shipping bolts and bracket are painted yellow.

• The shipping bracket is to be fixed with the hexagon socket head cap
screws M10 (length: 25mm) (2 screws).
Before turning ON the power, check to be sure that the

NOTE shipping bolts and brackets are removed. The shipping
bolts and brackets then must be stored for future use, in the
event that the manipulator must be moved again.
2-3 HW1481305 22 of 103

167105-1CD
MH12 2 Transport
2.3 Cushioning Material for Transport
2.3 Cushioning Material for Transport

The manipulator is provided with the cushioning materials for transport at
sections A and B. (See Fig. 2-4 “Cushioning Materials for Transport”.)
Fig. 2-4: Cushioning Materials for Transport
A
B
• A rubber cushion is respectively wedged at the sections A and B.
Before turning ON the power, check to be sure that the

cushioning materials for transport are removed.
NOTE In the event that the manipulator must be moved again, to
avoid its main body from being damaged, the cushioning
materials such as rubber plate, etc. must be used.
2-4 HW1481305 23 of 103

167105-1CD
MH12 3 Installation
3 Installation
WARNING
• Install the safeguarding.
Failure to observe this warning may result in injury or damage.
• Install the manipulator in a location where the tool or the workpiece
held by its fully extended arm will not reach the wall, safeguarding,
or controller.
Failure to observe this warning may result in injury or damage.
• Do not start the manipulator or even turn ON the power before it is
firmly anchored.
The manipulator may overturn and cause injury or damage.
• When mounting the manipulator on the wall, the base section must
have sufficient strength and rigidity to support the weight of the
manipulator. Also, it is necessary to consider countermeasures to
prevent the manipulator from falling.
Failure to observe these warnings may result in injury or damage.
CAUTION
• Do not install or operate the manipulator that is damaged or lacks
parts.
Failure to observe this caution may cause injury or damage.
• Before turning ON the power, check to be sure that the shipping
bolts and brackets explained in Fig. 2-4 “Cushioning Materials for
Transport” are removed.
Failure to observe this caution may result in damage to the driving
parts.
3-1 HW1481305 24 of 103

167105-1CD
MH12 3 Installation
3.1 Safeguarding Installation
3.1 Safeguarding Installation

To insure safety, be sure to install safeguarding. It prevents unforeseen
accidents with personnel and damage to equipment. Refer to the quoted
clause for your information and guidance.
Responsibility for Safeguarding (ISO10218)

The user of a manipulator or robot system shall ensure that safeguards
are provided and used in accordance with Sections 6, 7, and 8 of this
standard. The means and degree of safeguarding, including any
redundancies, shall correspond directly to the type and level of hazard
presented by the robot system consistent with the robot application.
Safeguarding may include but not be limited to safeguarding devices,
barriers, interlock barriers, perimeter guarding, awareness barriers, and
awareness signals.
3.2 Mounting Procedures for Manipulator Base

The manipulator should be firmly mounted on a base plate or foundation
strong enough to support the manipulator and withstand reaction forces
during acceleration and deceleration.
Construct a solid foundation with the appropriate thickness to withstand
maximum reaction forces of the manipulator referring to Table 3-1
“Manipulator Reaction Force and Torque”.
A base plate flatness must be kept at 0.5 mm or less: insufficient flatness
of installation surface may deform the manipulator shape and affect its
functional abilities. Mount the manipulator base as instructed in section
3.2.1 “Mounting Example”.
Table 3-1: Manipulator Reaction Force and Torque

Horizontal rotation Vertical rotation
Reaction force FH Torque MH Reaction force FV Torque MV
Emergency stop 9025 N 4120 N•m 5885 N 4120 N•m

(920 kgf) (420 kgf•m) (600 kgf) (420 kgf•m)
Acceleration/ 3140 N•m 1275 N•m 2355 N•m 1670 N•m
deceleration (320 kgf) (130 kgf•m) (240 kgf) (170 kgf•m)
3-2 HW1481305 25 of 103

167105-1CD
MH12 3 Installation
Fig. 3-1: Manipulator Reaction Force and Torque
/8
(8
/*
(*
3-3 HW1481305 26 of 103

167105-1CD
MH12 3 Installation
3.2.1 Mounting Example

For the first process, anchor the base plate firmly to the ground. The base
plate should be rugged and durable to prevent shifting of the manipulator
or the mounting fixture. It is recommend to prepare a base plate of 40 mm
or more thick, and anchor bolts of M16 or larger size.
The manipulator base is tapped for four mounting holes; securely fix the
manipulator base to the base plate with four hexagon head bolts M16
(50 mm long is recommended).
Next, fix the manipulator base to the base plate. Tighten the hexagon
head bolts and anchor bolts firmly so that they will not work loose during
the operation.
Refer to Fig. 3-2 “Mounting the Manipulator on Base Plate”.
Fig. 3-2: Mounting the Manipulator on Base Plate
Hexagon head bolt M16 (4 bolts)
Spring washer
Washer
Manipulator base
20
Baseplate
40 mm
or more
Manipulator base
Anchor bolt (M16 or larger)
Baseplate
A
300
Baseplate
260
240
18 dia. (4 holes) 60
60
300
292
260
+0.018
12 dia. 0
+0.018
16 dia. 0
100±0.1
(2 holes)
View A
3-4 HW1481305 27 of 103

167105-1CD
MH12 3 Installation
3.3 Mounting method
3.3 Mounting method

The MOTOMAN-MH12 is available in three ways: floor-mounted way
(standard), wall-mounted way, and ceiling-mounted way. For wall-
mounted and ceiling-mounted ways, the three points listed below are
different from the floor-mounted way.
• S-Axis Operating Range
• Fixing the Manipulator Base
• Precautions to Prevent the Manipulator from Falling
3.3.1 S-Axis Operating Range

For wall-mounted way, the S-axis operating range is ±30°.
(The range is adjusted prior to the shipment.)
3.3.2 Fixing the Manipulator Base

For wall- and ceiling-mounted ways, be sure to use four hexagon socket
head cap screws M16 (tensile strength: 1200 N/mm2 or more) when fixing
the manipulator base. Use a torque of 206 N•m when tightening the
screws.
3.3.3 Precautions to Prevent the Manipulator from Falling

For the wall- or ceiling-mounted ways, take appropriate measures to avoid
the falling of the manipulator in case of emergency. Refer to Fig. 3-3
“Precaution Against Falling” for details.
Fig. 3-3: Precaution Against Falling
Support for fall prevention

Manipulator base
Hexagon socket head cap

screw M16 (4 places)
(Tensile strength: 1200 N/mm2 or more)
In case of using the wall/ceiling-mounted way, inform

YASKAWA of the matter when placing an order. Be sure to
NOTE contact your YASKAWA representative (listed on the back
cover of this instruction manual) to perform a wall/ceiling
installation on site.
3-5 HW1481305 28 of 103

167105-1CD
MH12 3 Installation
3.4 Location
3.4 Location
When installing a manipulator, it is necessary to satisfy the following
environmental conditions:
• Ambient temperature: 0° to + 45°C
• Humidity: 20 to 80%RH (no-condensing)
• Free from dust, soot, oil, or water
• Free from corrosive gas or liquid, or explosive gas or liquid.
• Free from excessive vibration (Vibration acceleration: 4.9 m/s2
[0.5 G] or less)
• Free from large electrical noise (plasma)
• Flatness for installation: 0.5 mm or less
3-6 HW1481305 29 of 103

167105-1CD
MH12 4 Wiring
4 Wiring
WARNING
• Ground resistance must be 100 Ω or less.
Failure to observe this warning may result in fire or electric shock.
• Before wiring, make sure to turn the primary power supply off, and
put up a warning sign. (ex. DO NOT TURN THE POWER ON.)
Failure to observe this warning may result in fire or electric shock.
CAUTION
• Wiring must be performed by authorized or certified personnel.
Failure to observe this caution may result in fire or electric shock.
• Do not cover the cable or allow it to tangle. Keep the cable as
straight as possible.
Failure to observe this caution may result in preventing heat of the
cable from being discharged.
4-1 HW1481305 30 of 103

167105-1CD
MH12 4 Wiring
4.1 Grounding
4.1 Grounding
Follow electrical installation standards and wiring regulations for
grounding. A ground wire of 5.5 mm2 or more is recommended.
Refer to Fig. 4-1 “Grounding Method” to connect the ground line directly to
the manipulator.
• Never use this wire sharing with other ground lines or

grounding electrodes for other electric power, motor
power, welding devices, etc.
NOTE
• Where metal ducts, metallic conduits, or distributing racks
are used for cable laying, ground in accordance with
electrical installation standards.
Fig. 4-1: Grounding Method
A A
Section A
Bolt M8 (For grounding)

Delivered with the manipulator
4-2 HW1481305 31 of 103

167105-1CD
MH12 4 Wiring
4.2 Cable Connection

Two manipulator cables are delivered with the manipulator; an encoder
cable (1BC) and a power cable (2BC).
(Refer to Fig. 4-2(a) “Manipulator Cables (DX200)”,Fig. 4-2(b)
“Manipulator Cables (FS100)”.)
Connect these cables to the manipulator base connectors and to the
DX200/FS100. Refer to Fig. 4-3 “Manipulator Cable Connectors
(Manipulator Side)” ,Fig. 4-4(a) “Manipulator Cable Connection (DX200
Side)” and Fig. 4-4(b) “Manipulator Cable Connection (FS100 Side)”.
4.2.1 Connection to the Manipulator

Before connecting cables to the manipulator, verify the numbers on both
manipulator cables and the connectors on the connector base of the
manipulator. When connecting, adjust the cable connector positions to
the main key positions of the manipulator, and insert cables in the order of
2BC, then 1BC. After inserting the cables, depress the lever until it clicks.
4.2.2 Connection to the DX200/FS100

Before connecting two cables to the DX200/FS100, verify the numbers on
both manipulator cables and the connectors on the DX200/FS100. When
connecting, insert the cables in the order of X21, then X11, and depress
each lever low until it clicks.
4-3 HW1481305 32 of 103

167105-1CD
MH12 4 Wiring
Fig. 4-2(a): Manipulator Cables (DX200)
DX200 Side Manipulator Side
1BC
X11
X11 1BC
1BC
Encoder Cable
DX200 Side Manipulator Side
2BC
X21
2BC
X21
2BC
Power Cable
4-4 HW1481305 33 of 103

167105-1CD
MH12 4 Wiring
Fig. 4-2(b): Manipulator Cables (FS100)
FS100 Side Manipulator Side
1BC
X11
1BC
X11
1BC
molex
Encoder Cable
FS100 Side Manipulator Side
2BC
X21
2BC
X21
2BC
Power Cable
Fig. 4-3: Manipulator Cable Connectors (Manipulator Side)
Connector Details
(Manipulator Side)
4-5 HW1481305 34 of 103

167105-1CD
MH12 4 Wiring
Fig. 4-4(a): Manipulator Cable Connection (DX200 Side)
X11
X21
Fig. 4-4(b): Manipulator Cable Connection (FS100 Side)
X21 X11
Back View
4-6 HW1481305 35 of 103

167105-1CD
MH12 5 Basic Specifications

5.1 Basic Specifications
5 Basic Specifications
5.1 Basic Specifications

Table 5-1: Basic Specifications1)
Item Model MOTOMAN-MH12
Structure Vertically Articulated
Degree of Freedom 6
Payload 12 kg
Repeatability2) ±0.08 mm
Range of Motion 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°
Maximum Speed S-Axis 3.84 rad/s, 220°/s
L-Axis 3.49 rad/s, 200°/s
U-Axis 3.84 rad/s, 220°/s
R-Axis 7.16 rad/s, 410°/s
B-Axis 7.16 rad/s, 410°/s
T-Axis 10.6 rad/s, 610°/s
Allowable Moment3) R-Axis 22 N•m (2.2 kgf•m)
B-Axis 22 N•m (2.2 kgf•m)
T-Axis 9.8 N•m (1.0 kgf•m)
Allowable Inertia (GD2/4) R-Axis 0.65 kg•m2
B-Axis 0.65 kg•m2
T-Axis 0.17 kg•m2
Approx. mass 130 kg
Ambient Conditions Temperature 0°C to 45°C
Humidity 20 to 80% RH (non-condensing)
Vibration Acceleration 4.9 m/s2 or less (0.5 G)
Others Free from corrosive gasses or liquids, or explosive gasses
Free from exposure to water, oil, or dust
Free from excessive electrical noise (plasma)
Power Requirements 1.5 kVA
4)
Noise Less than 78.8 dB
1 SI units are used in this table. However, gravitational unit is used in ( ).
2 Conformed to ISO9283
3 Refer to chapter 6 “Allowable Load for Wrist Axis and Wrist Flange”
for details on the permissible moment of inertia.
4 Conformed to ISO6926
1, Measurement is carried out when the maximum load is mounted to the manipulator and
operated in the maximum speed.
2, Measurement is carried out:
- between 1.2m and 1.5m above the ground.
- 400mm away from the P-point maximum envelope.
5-1 HW1481305 36 of 103

167105-1CD
5.2 Part Names and Working Axes
5.2 Part Names and Working Axes

Fig. 5-1: Part Names and Working Axes
U+ R+
U-arm
B+
T+
Wrist flange
U- R- B- T-
L- L+
L-arm
S-head
S+
S- Manipulator base
5.3 Manipulator Base Dimensions

Fig. 5-2: Manipulator Base Dimensions
300
260 Baseplate
240
60
18 dia.
(4 holes)
60
300
292
260
+0.018
20
12 dia. 0
+0.018
16 dia. 0
(2 holes)
Units: mm
A
View A
5-2 HW1481305 37 of 103

167105-1CD

5.4 Dimensions and P-Point Maximum Envelope
5.4 Dimensions and P-Point Maximum Envelope

Fig. 5-3: Dimensions and P-Point Maximum Envelope
170°
10
R4
26
13
45 R14
R4
10 40
170°
P-point maximum
envelope
195 94.5
2ὐ 1734
100
155 640 100

200
°
85
84
614
°
90
198.5
705
155°
240°
2511
450
299
361
17
5°
777
410
206
606
1440
848
1129
5-3 HW1481305 38 of 103

167105-1CD
5.5 Stopping Angles and Times for S-, L- and U-Axes (DX200)
Following data on stopping angle and time for each axis measured under
the standard of ISO10218.
5.5.1 Stop Category 0: Stopping Angles and Times
5.5.1.1 Position 100%

Fig. 5-4: Stop Category 0, Position 100% : Stopping Angle and Time for each Axis
(a)S-Axis
㻿㼠㼛㼜㻌㻯㼍㼠㼑㼓㼛㼞㼥㻌㻜㻘㻌㻼㼛㼟㼕㼠㼕㼛㼚㻌㻝㻜㻜㻑㻌㻿㼠㼛㼜㻌㻯㼍㼠㼑㼓㼛㼞㼥㻌㻜㻘㻌㻼㼛㼟㼕㼠㼕㼛㼚㻌㻝㻜㻜㻑
㻜㻚㻡
㻟㻡
㻟㻜㻜㻚㻠
㻞㻡
㻿㼠㼛㼜㼜㼕㼚㼓㻌㼍㼚㼓㼘㼑㼇㼐㼑㼓㼉
㻿㼠㼛㼜㼜㼕㼚㼓㻌㼠㼕㼙㼑㼇㼟㼑㼏㼉
㻜㻚㻟
㻞㻜
㻝㻡㻜㻚㻞
㻝㻜
㻜㻚㻝
㻡
㻜㻜
㻜㻡㻜㻝㻜㻜㻝㻡㻜㻞㻜㻜㻞㻡㻜㻜㻡㻜㻝㻜㻜㻝㻡㻜㻞㻜㻜㻞㻡㻜
㻿㼜㼑㼑㼐㼇㼐㼑㼓㻛㼟㼉㻿㼜㼑㼑㼐㼇㼐㼑㼓㻛㼟㼉
㻸㼛㼍㼐㻝㻜㻜㻑㻸㼛㼍㼐㻢㻢㻑㻸㼛㼍㼐㻟㻟㻑㻸㼛㼍㼐㻝㻜㻜㻑㻸㼛㼍㼐㻢㻢㻑㻸㼛㼍㼐㻟㻟㻑
(b)L-Axis
㻟㻡㻜㻚㻡
㻟㻜
㻜㻚㻠
㻞㻡
㻜㻚㻟
㻞㻜
㻝㻡㻜㻚㻞
㻝㻜
㻜㻚㻝
㻡
㻜㻜
㻜㻡㻜㻝㻜㻜㻝㻡㻜㻞㻜㻜㻞㻡㻜㻜㻡㻜㻝㻜㻜㻝㻡㻜㻞㻜㻜
(c)U-Axis
㻟㻡㻜㻚㻡
㻟㻜
㻜㻚㻠
㻞㻡
㻞㻜㻜㻚㻟
㻝㻡
㻜㻚㻞
㻝㻜
㻜㻚㻝
㻡
㻜㻜
5-4 HW1481305 39 of 103

167105-1CD

5.5.1.2 Position 66%

(a)S-Axis
㻿㼠㼛㼜㻌㻯㼍㼠㼑㼓㼛㼞㼥㻌㻜㻘㻌㻼㼛㼟㼕㼠㼕㼛㼚㻌㻢㻢㻑㻌㻿㼠㼛㼜㻌㻯㼍㼠㼑㼓㼛㼞㼥㻌㻜㻘㻌㻼㼛㼟㼕㼠㼕㼛㼚㻌㻢㻢㻑
㻟㻡㻜㻚㻡
㻟㻜
㻜㻚㻠
㻞㻡
㻞㻜㻜㻚㻟
㻝㻡㻜㻚㻞
㻝㻜
㻜㻚㻝
㻡
㻜㻜
(b)L-Axis
㻿㼠㼛㼜㻌㻯㼍㼠㼑㼓㼛㼞㼥㻌㻜㻘㻌㻼㼛㼟㼕㼠㼕㼛㼚㻌㻢㻢㻑
㻿㼠㼛㼜㻌㻯㼍㼠㼑㼓㼛㼞㼥㻌㻜㻘㻌㻼㼛㼟㼕㼠㼕㼛㼚㻌㻢㻢㻑㻌㻿㼠㼛㼜㻌㻯㼍㼠㼑㼓㼛㼞㼥㻌㻜㻘㻌㻼㼛㼟㼕㼠㼕㼛㼚㻌㻢㻢㻑
㻟㻡㻜㻚㻡
㻟㻜
㻜㻚㻠
㻞㻡
㻜㻚㻟
㻞㻜
㻝㻡㻜㻚㻞
㻝㻜
㻜㻚㻝
㻡
㻜㻜
(c)U-Axis
㻿㼠㼛㼜㻌㻯㼍㼠㼑㼓㼛㼞㼥㻌㻜㻘㻌㻼㼛㼟㼕㼠㼕㼛㼚㻌㻢㻢㻑㻿㼠㼛㼜㻌㻯㼍㼠㼑㼓㼛㼞㼥㻌㻜㻘㻌㻼㼛㼟㼕㼠㼕㼛㼚㻌㻢㻢㻑
㻟㻡㻜㻚㻡
㻟㻜
㻜㻚㻠
㻞㻡
㻜㻚㻟
㻞㻜
㻝㻡㻜㻚㻞
㻝㻜
㻜㻚㻝
㻡
㻜㻜
5-5 HW1481305 40 of 103

167105-1CD

(a)S-Axis
㻿㼠㼛㼜㻌㻯㼍㼠㼑㼓㼛㼞㼥㻌㻜㻘㻌㻼㼛㼟㼕㼠㼕㼛㼚㻌㻟㻟㻑㻿㼠㼛㼜㻌㻯㼍㼠㼑㼓㼛㼞㼥㻌㻜㻘㻌㻼㼛㼟㼕㼠㼕㼛㼚㻌㻟㻟㻑
㻟㻡㻜㻚㻡
㻟㻜
㻜㻚㻠
㻞㻡
㻞㻜㻜㻚㻟
㻝㻡
㻜㻚㻞
㻝㻜
㻜㻚㻝
㻡
㻜㻜
(b)L-Axis
㻟㻡㻜㻚㻡
㻟㻜
㻜㻚㻠
㻞㻡
㻜㻚㻟
㻞㻜
㻝㻡㻜㻚㻞
㻝㻜
㻜㻚㻝
㻡
㻜㻜
(c)U-Axis
㻟㻡㻜㻚㻡
㻟㻜
㻜㻚㻠
㻞㻡
㻜㻚㻟
㻞㻜
㻝㻡㻜㻚㻞
㻝㻜
㻜㻚㻝
㻡
㻜㻜
5-6 HW1481305 41 of 103

167105-1CD

NOTE Stopping angles and times at Stop category 1 are not

subjected to the load of the manipulator.
5.5.2.1 Position100%
Fig. 5-7: Stop Category 1: Position 100% Stopping Angle and Time for each Axis
(a)S-Axis
㻿㼠㼛㼜㻌㻯㼍㼠㼑㼓㼛㼞㼥㻌㻝㻘㻌㻼㼛㼟㼕㼠㼕㼛㼚㻌㻝㻜㻜㻑㻿㼠㼛㼜㻌㻯㼍㼠㼑㼓㼛㼞㼥㻌㻝㻘㻌㻼㼛㼟㼕㼠㼕㼛㼚㻌㻝㻜㻜㻑
㻢㻜㻜㻚㻢
㻡㻜㻜㻚㻡
㻠㻜
㻜㻚㻠
㻟㻜㻜㻚㻟
㻞㻜㻜㻚㻞
㻝㻜㻜㻚㻝
㻜㻜㻚㻜
Notes) Not depends on the load

(b)L-Axis
㻢㻜㻜㻚㻢
㻡㻜㻜㻚㻡
㻠㻜㻜㻚㻠
㻟㻜㻜㻚㻟
㻞㻜㻜㻚㻞
㻝㻜㻜㻚㻝
㻜㻜㻚㻜

(c)U-Axis
㻢㻜㻜㻚㻢
㻡㻜㻜㻚㻡
㻠㻜㻜㻚㻠
㻟㻜㻜㻚㻟
㻞㻜㻜㻚㻞
㻝㻜㻜㻚㻝
㻜㻜㻚㻜
5-7 HW1481305 42 of 103

167105-1CD

(a)S-Axis
㻿㼠㼛㼜㻌㻯㼍㼠㼑㼓㼛㼞㼥㻌㻝㻘㻌㻼㼛㼟㼕㼠㼕㼛㼚㻌㻢㻢㻑㻿㼠㼛㼜㻌㻯㼍㼠㼑㼓㼛㼞㼥㻌㻝㻘㻌㻼㼛㼟㼕㼠㼕㼛㼚㻌㻢㻢㻑
㻢㻜㻜㻚㻢
㻡㻜㻜㻚㻡
㻠㻜㻜㻚㻠
㻟㻜㻜㻚㻟
㻞㻜㻜㻚㻞
㻝㻜㻜㻚㻝
㻜㻜㻚㻜

(b)L-Axis
㻢㻜㻜㻚㻢
㻡㻜㻜㻚㻡
㻠㻜㻜㻚㻠
㻟㻜㻜㻚㻟
㻞㻜㻜㻚㻞
㻝㻜㻜㻚㻝
㻜㻜㻚㻜

(c)U-Axis
㻢㻜㻜㻚㻢
㻡㻜㻜㻚㻡
㻠㻜㻜㻚㻠
㻟㻜㻜㻚㻟
㻞㻜㻜㻚㻞
㻝㻜㻜㻚㻝
㻜㻜㻚㻜
5-8 HW1481305 43 of 103

167105-1CD


(a)S-Axis
㻿㼠㼛㼜㻌㻯㼍㼠㼑㼓㼛㼞㼥㻌㻝㻘㻌㻼㼛㼟㼕㼠㼕㼛㼚㻌㻟㻟㻑㻿㼠㼛㼜㻌㻯㼍㼠㼑㼓㼛㼞㼥㻌㻝㻘㻌㻼㼛㼟㼕㼠㼕㼛㼚㻌㻟㻟㻑
㻢㻜㻜㻚㻢
㻡㻜㻜㻚㻡
㻠㻜㻜㻚㻠
㻟㻜㻜㻚㻟
㻞㻜㻜㻚㻞
㻝㻜㻜㻚㻝
㻜㻜㻚㻜

(b)L-Axis
㻢㻜㻜㻚㻢
㻡㻜㻜㻚㻡
㻠㻜㻜㻚㻠
㻟㻜㻜㻚㻟
㻞㻜㻜㻚㻞
㻝㻜㻜㻚㻝
㻜㻜㻚㻜

(c)U-Axis
㻢㻜㻜㻚㻢
㻡㻜㻜㻚㻡
㻠㻜㻜㻚㻠
㻟㻜㻜㻚㻟
㻞㻜㻜㻚㻞
㻝㻜㻜㻚㻝
㻜㻜㻚㻜
5-9 HW1481305 44 of 103

167105-1CD
5.6 Stopping Angles and Times for S-, L- and U-Axes (FS100)
Following data on stopping angle and time for each axis measured under
the standard of ISO10218.
5.6.1.1 Position 100%

(a)S-Axis
㻿㼠㼛㼜㻌㻯㼍㼠㼑㼓㼛㼞㼥㻌㻜㻘㻌㻼㼛㼟㼕㼠㼕㼛㼚㻌㻝㻜㻜㻑㻿㼠㼛㼜㻌㻯㼍㼠㼑㼓㼛㼞㼥㻌㻜㻘㻌㻼㼛㼟㼕㼠㼕㼛㼚㻌㻝㻜㻜㻑
㻜㻚㻡
㻟㻡
㻟㻜㻜㻚㻠
㻞㻡
㻜㻚㻟
㻞㻜
㻝㻡㻜㻚㻞
㻝㻜
㻜㻚㻝
㻡
㻜㻜
(b)L-Axis
㻟㻡㻜㻚㻡
㻟㻜
㻜㻚㻠
㻞㻡
㻜㻚㻟
㻞㻜
㻝㻡㻜㻚㻞
㻝㻜
㻜㻚㻝
㻡
㻜㻜
㻜㻡㻜㻝㻜㻜㻝㻡㻜㻞㻜㻜㻞㻡㻜㻜㻡㻜㻝㻜㻜㻝㻡㻜㻞㻜㻜
(c)U-Axis
㻟㻡㻜㻚㻡
㻟㻜
㻜㻚㻠
㻞㻡
㻞㻜㻜㻚㻟
㻝㻡
㻜㻚㻞
㻝㻜
㻜㻚㻝
㻡
㻜㻜
5-10 HW1481305 45 of 103

167105-1CD


(a)S-Axis
㻟㻡㻜㻚㻡
㻟㻜
㻜㻚㻠
㻞㻡
㻞㻜㻜㻚㻟
㻝㻡㻜㻚㻞
㻝㻜
㻜㻚㻝
㻡
㻜㻜
(b)L-Axis
㻟㻡㻜㻚㻡
㻟㻜
㻜㻚㻠
㻞㻡
㻜㻚㻟
㻞㻜
㻝㻡㻜㻚㻞
㻝㻜
㻜㻚㻝
㻡
㻜㻜
(c)U-Axis
㻟㻡㻜㻚㻡
㻟㻜
㻜㻚㻠
㻞㻡
㻜㻚㻟
㻞㻜
㻝㻡㻜㻚㻞
㻝㻜
㻜㻚㻝
㻡
㻜㻜
5-11 HW1481305 46 of 103

167105-1CD

(a)S-Axis
㻟㻡㻜㻚㻡
㻟㻜
㻜㻚㻠
㻞㻡
㻞㻜㻜㻚㻟
㻝㻡
㻜㻚㻞
㻝㻜
㻜㻚㻝
㻡
㻜㻜
(b)L-Axis
㻟㻡㻜㻚㻡
㻟㻜
㻜㻚㻠
㻞㻡
㻜㻚㻟
㻞㻜
㻝㻡㻜㻚㻞
㻝㻜
㻜㻚㻝
㻡
㻜㻜
(c)U-Axis
㻟㻡㻜㻚㻡
㻟㻜
㻜㻚㻠
㻞㻡
㻜㻚㻟
㻞㻜
㻝㻡㻜㻚㻞
㻝㻜
㻜㻚㻝
㻡
㻜㻜
5-12 HW1481305 47 of 103

167105-1CD

NOTE Stopping angles and times at Stop category 1 are not

subjected to the load of the manipulator.
5.6.2.1 Position100%
(a)S-Axis
㻢㻜㻜㻚㻢
㻡㻜㻜㻚㻡
㻠㻜
㻜㻚㻠
㻟㻜㻜㻚㻟
㻞㻜㻜㻚㻞
㻝㻜㻜㻚㻝
㻜㻜㻚㻜

(b)L-Axis
㻢㻜㻜㻚㻢
㻡㻜㻜㻚㻡
㻠㻜㻜㻚㻠
㻟㻜㻜㻚㻟
㻞㻜㻜㻚㻞
㻝㻜㻜㻚㻝
㻜㻜㻚㻜

(c)U-Axis
㻢㻜㻜㻚㻢
㻡㻜㻜㻚㻡
㻠㻜
㻜㻚㻠
㻟㻜㻜㻚㻟
㻞㻜㻜㻚㻞
㻝㻜㻜㻚㻝
㻜㻜㻚㻜
5-13 HW1481305 48 of 103

167105-1CD

(a)S-Axis
㻢㻜㻜㻚㻢
㻡㻜㻜㻚㻡
㻠㻜㻜㻚㻠
㻟㻜㻜㻚㻟
㻞㻜㻜㻚㻞
㻝㻜㻜㻚㻝
㻜㻜㻚㻜

(b)L-Axis
㻢㻜㻜㻚㻢
㻡㻜㻜㻚㻡
㻠㻜㻜㻚㻠
㻟㻜㻜㻚㻟
㻞㻜㻜㻚㻞
㻝㻜㻜㻚㻝
㻜㻜㻚㻜

(c)U-Axis
㻢㻜㻜㻚㻢
㻡㻜㻜㻚㻡
㻠㻜㻜㻚㻠
㻟㻜㻜㻚㻟
㻞㻜㻜㻚㻞
㻝㻜㻜㻚㻝
㻜㻜㻚㻜
5-14 HW1481305 49 of 103

167105-1CD


(a)S-Axis
㻢㻜㻜㻚㻢
㻡㻜㻜㻚㻡
㻠㻜㻜㻚㻠
㻟㻜㻜㻚㻟
㻞㻜㻜㻚㻞
㻝㻜㻜㻚㻝
㻜㻜㻚㻜

(b)L-Axis
㻢㻜㻜㻚㻢
㻡㻜㻜㻚㻡
㻠㻜㻜㻚㻠
㻟㻜㻜㻚㻟
㻞㻜㻜㻚㻞
㻝㻜㻜㻚㻝
㻜㻜㻚㻜

(c)U-Axis
㻢㻜㻜㻚㻢
㻡㻜㻜㻚㻡
㻠㻜㻜㻚㻠
㻟㻜㻜㻚㻟
㻞㻜㻜㻚㻞
㻝㻜㻜㻚㻝
㻜㻜㻚㻜
5-15 HW1481305 50 of 103

167105-1CD
5.7 Alterable Operating Range

The operating range of the S-axis can be altered in accordance with the
operating conditions as shown in Table 5-2 “S-Axis Operating Range”.
If alteration is necessary, contact your YASKAWA representative in
advance.
Table 5-2: S-Axis Operating Range

Item Specifications
S-Axis Operating -170° - +170° (standard)
Range -150° - +150°
-135° - +135°
-120° - +120°
-105° - +105°
-90° - +90°
-75° - +75°
-60° - +60°
-45° - +45°
-30° - +30°
5.7.1 Components for Altering Operating Range

Arrange the components listed in Fig. 5-16 “The Components of the S-
Axis Stopper and Stopper Mounting Position”, when modifying the angle
of S-axis.
(1) Dog (drawing No. HW0414041-2) (2 dogs)
(2) Hexagon socket head cap screw M12
(length: 30 mm) (2 screws)
(Tensile strength: 1200N/mm2 or more)
(3) Conical spring washer M12 (2 washers)
Fig. 5-16: The Components of the S-Axis Stopper and Stopper Mounting Position
S-axis Operating Range Stopper position g f e

h d
-170 WR+170 i
-150 WR+150 a c
-135 WR+135 b b
-120 WR+120 c a
2
32
-105 WR+105 d
-90 WR+90 e
(Mec
a
hanic
-75 WR+75 f
al Lim
-60 WR+60 g b
it)
-45 WR+45 h c
i d
-30 WR+30 i h g e
f
A A (Mechanical Limit)
HW0414041-2㸦dog㸧(2 dogs)
M12 tap (18 places)
Hexagon socket head cap screw M12
(length: 30 mm) (2 screws) Section A-A
( Tensile strength: 1200 N/mm2 or more)
Dog Mouting Position
Conical spring washer M12 (2 washers)
Tightening torque: 84N m(8.6kgf m)
5-16 HW1481305 51 of 103

167105-1CD

5.7.2 Notes on the Mechanical Stopper Installation

As shown in Fig. 5-16 “The Components of the S-Axis Stopper and
Stopper Mounting Position”, as a mechanical stopper, mount a dog
(HW0414041-2) on the S-head by using one hexagon socket head cap
screw M12 (length: 30 mm) (2 places) (tensile strength: 1200 N/mm2 or
more). The mechanical stopper is not necessary when the operating
range is set to ±170° (Standard specification).
The mechanical stopper can be set at 15° pich intervals from 30° to 150°
range.
For the settable angles, refer to Table 5-3 “The Settable Angle for S-Axis
Stopper”
1. Apply the specified components when mounting the

NOTE S-Axis mechanical stopper.
2. TURN OFF the electric power supply before mounting.
5.7.3 Adjustment to the Pulse Limitation of S-Axis

Apply the Instruction for “DX200 Instructions chapter 8.17 Changing the
Parameter Setting (manual No. RE-CTO-A220)” as part of reference
materials for adjusting the programming pendant when modifying the
range of motion of S-Axis.
The limitation to the pulse (Pulse Soft Limit + 1st Axis) : SICxG400
The limitation to the pulse (Pulse Soft Limit - 1st Axis) : SICxG408
Degree ± 30° ± 45° ± 60° ± 75° ± 90°

Number ± 43061 ± 64591 ± 86121 ± 107651 ± 129182
of Pulse
Degree ± 105° ± 120° ± 135° ± 150° ± 170°

Number ± 150712 ±172242 ± 193772 ± 215303 ± 244010
of Pulse
Adjust both of the pulse limitation and the angle of S-Axis

NOTE mechanical stopper as modifying the range of motion for
machinery.
5-17 HW1481305 52 of 103

MH12
167105-1CD
5
The Angle of S-Axis Stopper for + Direction

㪈㪎㪇㫦㪈㪌㪇㫦㪈㪊㪌㫦㪈㪉㪇㫦㪈㪇㪌㫦㪐㪇㫦㪎㪌㫦㪍㪇㫦㪋㪌㫦㪊㪇㫦㪇㫦㪄㪊㪇㫦㪄㪋㪌㫦㪄㪍㪇㫦㪄㪎㪌㫦㪄㪐㪇㫦㪄㪈㪇㪌㫦㪄㪈㪉㪇㫦㪄㪈㪊㪌㫦㪄㪈㪌㪇㫦㪄㪈㪎㪇㫦
㪄㪈㪎㪇㫦
㪄㪈㪌㪇㫦
Basic Specifications
5-18
㪄㪈㪊㪌㫦
㪄㪈㪉㪇㫦
㪄㪈㪇㪌㫦
㪄㪐㪇㫦
㪄㪎㪌㫦
㪄㪍㪇㫦
㪄㪋㪌㫦
㪄㪊㪇㫦
㪇㫦
㪊㪇㫦
㪋㪌㫦
㪍㪇㫦
㪎㪌㫦
Table 5-3: The Settable Angle for S-Axis Stopper
㪐㪇㫦
㪈㪇㪌㫦
The Angle of S-Axis Stopper for - Direction

㪈㪉㪇㫦
㪈㪊㪌㫦
㪈㪌㪇㫦
㪈㪎㪇㫦
…Settable angle "Table 5-3 The Settable Angle for S-Axis Stopper" indicates the angle range which
…Non settable angle
allows S-axis to be set for + direction and - direction angles.
(Ex. -150° to +150° is settable, however 0° to +135° is not settable)
HW1481305
53 of 103
167105-1CD
MH12 6 Allowable Load for Wrist Axis and Wrist Flange

6.1 Allowable Wrist Load
6 Allowable Load for Wrist Axis and Wrist Flange
6.1 Allowable Wrist Load

The allowable wrist load is 12 kg maximum. If force is applied to the wrist
instead of the load, force on R-, B-, and T-axes should be within the value
shown in Table 6-1 “Allowable Wrist Load”. Contact your YASKAWA
representative for further information or assistance.
Table 6-1: Allowable Wrist Load

Axis Allowable Moment N•m (kgf•m)1) Allowable Inertia (GD2/4)
kg•m2
R-Axis 22 (2.2) 0.65
B-Axis 22 (2.2) 0.65
T-Axis 9.8 (1.0) 0.17
1 ( ): Gravitational unit
When the volume load is small, refer to the moment arm rating shown in
Fig. 6-1 “Moment Arm Rating”.
Each value of the allowable inertia above is calculated assuming that the
moment load is at the maximum. Thus, in the case when only the inertia
load is applied, when the moment load is small while the inertia load is
large, or when the load is not applied as mass but applied as force, etc.,
contact your YASKAWA representative in advance.
Fig. 6-1: Moment Arm Rating
LB
100
Load gravity position
LT
LT
R-, T-axis
rotation center
300
238
200 W=3Kg
LT [mm]
167
W=6Kg
100
83
W=12Kg
187 329 465

100 200 300 400 500
LB [mm]
6-1 HW1481305 54 of 103

167105-1CD
MH12 6 Allowable Load for Wrist Axis and Wrist Flange
6.2 Wrist Flange
6.2 Wrist Flange

The wrist flange dimensions are shown in Fig. 6-2 “Wrist Flange”.
It is recommended that the attachment be mounted outside the fitting in
order to identify the alignment marks. Fitting depth shall be 5 mm or less.
The attachment should be mounted inside the range shown in the figure
below.
Fig. 6-2: Wrist Flange
Tapped holes M4 (8 holes)

(Pitch: 0.7)(Depth: 8)
+0.012
4 dia. 0 22.5°
(Depth: 6)
56
62 dia. -0.019
Dia.50
Dia.100
0
62 dia. -0.019 (Depth: 6)

0
Dia.100
5
Attachments should be
mounted within this
range.
4
NOTE Wash off anti-corrosive paint (yellow) on the wrist flange

surface with thinner or light oil before mounting the tools.
6-2 HW1481305 55 of 103

167105-1CD
MH12 7 System Application

7.1 Peripheral Equipment Mounts
7 System Application
7.1 Peripheral Equipment Mounts

The peripheral equipment mounts are provided on the U-axis (upper arm)
and S-axis (rotary head) as shown in Fig. 7-1 “Installing Peripheral
Equipment” for easier installation of the user's system applications. The
following conditions shall be observed to attach or install peripheral
equipment.
7.1.1 Allowable Load

The maximum allowable load on the U-axis is 22 kg, including the wrist
load.
For instance, when the mass installed on the wrist point is 12 kg, the mass
which can be installed on the upper arm is 10 kg.
The maximum allowable load on the S-axis is 20 kg. Install the peripheral
equipment on the S-axis so that the moment of inertia (GD2/4) from the
S-axis rotation center is 1.25 kg•m2 or less.
7.1.2 Installation Position

There is a limitation on where to install the peripheral equipment as shown
in Fig. 7-1 “Installing Peripheral Equipment” on the following page.
Fig. 7-1: Installing Peripheral Equipment
Tapped hole M8 (4 holes)
130
(Depth: 18) (Pitch: 1.25)
165 70
24
78
Tapped hole M6 (2 holes)

48
(Depth: 12) (Pitch: 1.0) View B

15
28.5 Mount the peripheral A

50 equipment within this range
300 60
Mount the peripheral B

equipment so that the
center of gravity of
the peripheral equipment
on the U-arm should be
within this range
Tapped hole M6 (4 holes) Tapped hole M6 (2 holes)

(Depth: 14) (Pitch: 1.0) (Depth: 12) (Pitch: 1.0)
26
130
206
60
13
50
110 90 45 475
Tapped hole M10 (4 holes) View A

(Depth: 18) (Pitch: 1.5)
7-1 HW1481305 56 of 103

167105-1CD
7.2 Internal User I/O Wiring Harness and Air Line

Internal user I/O wiring harness (14 wires: 0.2 mm2 x 8 wires, 0.75 mm2 x
2 wires and 1.25 mm2 x 4 wires), and an air line are incorporated in the
manipulator for the drive of peripheral devices mounted on the upper arm
as shown in Fig. 7-2 “Connectors for Internal User I/O Wiring Harness and
Air Line”.
The connector pins 1 to 16 are assigned as shown in Fig. 7-3 “Details of
the Connector Pin Numbers” on the following page. Wiring must be
performed by users. For the two air lines specification (optional), one more
air line is added. The conditions are below.
The allowable current for internal user 3 A or less for each wire
I/O wiring harness (The total current value for pins 1 to 16 must be 40 A or less.)
The maximum pressure for the air line 490 kPa (5 kgf/cm2) or less
(The air line inside diameter: 8.0mm, 6.5 mm (for two air lines only))
The allowable current for arc welding Rated current of 350A or less and the rated operational ratio should be
power cable (With optional A) 60% or lower.
The allowable operational ratio when it is operated with less current
than the allowable current is calculated by the following formula.
Allowable operational ratio = 60% x (350A/operating current )2
7-2 HW1481305 57 of 103

167105-1CD

Fig. 7-2: Connectors for Internal User I/O Wiring Harness and Air Line
Exhaust port A Exhaust port B
PT3/8 PT3/8
with a pipe plug with a pipe plug
Note: Available for two air lines specification only
Connector for the internal user I/O wiring harness:

JL05-2A20-29SC (socket connector with a cap)
Prepare pin connector: JL05-6A20-29P
%&%& A
%&
Air Inlet A
PT3/8 Air Inlet B
with a pipe plug PT3/8
with a pipe plug
%&
%&
%&
Connector for the internal user I/O

wiring harness: JL05-2A20-29PC (with a cap)
Two air lines specification (-A02)
Prepare connector JL05-6A20-29S
Standard specification (-A00)
View A
7-3 HW1481305 58 of 103

167105-1CD
Fig. 7-3: Details of the Connector Pin Numbers
Connector for Internal User I/O Wiring Harness

on the Connector Base
1
2
3
4
5 1
6 2 3
Pins used 7㧦㧔Open㧕 5
8㧦㧔Open㧕 4 6
9 7 8
10 9 10
11(0.75mm2 ) 11 12
12(0.75mm2‫)ޓ‬ 13 14
13(1.25mm2 )
14(1.25mm2 )
15(1.25mm2 ) 15 16
16(1.25mm2 )
Internal user I/O wiring harness: 0.2 mm2, 8 wires

: 0.75 mm2, 2 wires
Details of the Connector Pin Numbers : 1.25 mm2, 4 wires
Connector for Internal User I/O Wiring Harness

on the U-arm
1
2
3
4
5 1
6 2 3
Pins used 7 (+24V: for shock sensor) 5
8 (Shock sensor signal input) 4 6
9 7 8
10 9 10
11(0.75mm2 ) 11 12
12(0.75mm2 ) 13 14
13(1.25mm2 )
14(1.25mm2 )
15(1.25mm2 ) 15 16
16(1.25mm2 )
Internal user I/O wiring harness: 0.2 mm2, 8 wires

: 0.75 mm2, 2 wires
Details of the Connector Pin Numbers : 1.25 mm2, 4 wires
• For the standard specification, the pins No.7 and No.8 of

3BC connector on the U-arm are respectively connected
with the shock sensor power supply and shock sensor
signal input port of the DX200/FS100 controller.
NOTE • The pins No.7 and No.8 of respective 3BC connectors on

the connector base side and the U-arm side are not
connected with each other.
• For wiring, refer to Fig. 8-4(a) “Internal Connection
Diagram DX200)” through Fig. 8-4(c) “Internal Connection
Diagram (FS100)”.
The same pin-number connectors (1 to 16) at both connector base part

and arm part are connected with the single wire lead of 0.2 mm2,
0.75 mm2 or 1.25 mm2.
7-4 HW1481305 59 of 103

167105-1CD
MH12 8 Electrical Equipment Specification

8.1 Position of Limit Switch
8 Electrical Equipment Specification
8.1 Position of Limit Switch

The limit switches are optional. See Fig. 8-1 “Location of Limit Switches”“.
Fig. 8-1: Location of Limit Switches
LU-axis interference
limit switch (optional)
S-axis overrun
L-axis overrun
8-1 HW1481305 60 of 103

167105-1CD
8.2 Position of Servo ON Lamp
8.2 Position of Servo ON Lamp

The limit switches are optional. See Fig. 8-2 “Location of Servo On Lamp”
Fig. 8-2: Location of Servo On Lamp
Servo ON lamp
(Optional)
8-2 HW1481305 61 of 103

167105-1CD

8.3 Internal Connections
8.3 Internal Connections

Highly reliable connectors are equipped on each connection part of the
manipulator to enable easy removal and installation for maintenance and
inspection. For the number and location of connectors, see Fig. 8-3
“Locations and Numbers of Connectors”.
Diagrams for Internal connections of the manipulator are shown in Fig.
8-4(a) “Internal Connection Diagram DX200)” , Fig. 8-4(a) “Internal
Connection Diagram DX200)”, Fig. 8-4(c) “Internal Connection Diagram
(FS100)”and Fig. 8-4(d) “Internal Connection Diagram (FS100)”.
Fig. 8-3: Locations and Numbers of Connectors
3BC (for internal user I/O wiring harness)

on the U-arm
3BC (for internal user I/O wiring harness)

on the connector base
Table 8-1: List of Connector Types

Name Type of Connector
Connector for the internal user I/O JL05-2A20-29PC
wiring harness on the connector (JL05-6A20-29S: Optional)
base
Connector for the internal user I/O JL05-2A20-29SC
wiring harness on the U-arm (JL05-6A20-29P: Optional)
8-3 HW1481305 62 of 103

167105-1CD
MH12 8.3 Internal Connections
Fig. 8-4(a): Internal Connection Diagram DX200)
Power Cable Internal Cable
Note
1.For the limit switch specification, the connection of the section A B is changed as follows:
LC1 LC1
LD1 LD1 LD1 S-AXIS OVERRUN L.S. Connected to B1
LD1 LC2
LD2 L-AXIS OVERRUN L.S. Connected to B2
LC3
LD3 L AND U-AXIS INTERFERENCE L.S. Connected to B3
LA1 LA1
0BT 1 0BAT11 17 0BAT1 LB1 LB1 LB1 S-AXIS OVERRUN L.S. Connected to A1
P BAT 2 BAT11 18 BAT1
0BT 3 0BAT12 19 0BAT2 LB1 LA2
L-AXIS OVERRUN L.S. Connected to A2
P BAT 4 BAT12 20 BAT2 LB2
21 0BAT3
22 BAT3 LA3
A3
23 LB3 L AND U-AXIS INTERFERENCE L.S. Connected to
24
0BT 5 0BAT21 25 0BAT4 SLU-axes with Limit Switch Specification
P BAT 6 BAT21 26 BAT4
0BT 7 0BAT22 27 LC1 LC1
P BAT 8 BAT22 28 LD1 LD1 S-AXIS OVERRUN L.S. Connected to B1
29 LD1 LC2
30
1 31 LD2 LD2
2 32 LD2 LC3
3 1 PG0V1 LD1 LD3
4 2 PG5V1
5 3 PG0V2 LA1 LA1
6 4 PG5V2 LB1 LA2 LB1 S-AXIS OVERRUN L.S.Connected to A1
LB1
7 5 PG0V3
8 6 PG5V3 P LB2 A2 LB1 LA2
7 PG0V4 LB2 LB2
8 PG5V4 LB2 LA3
1BC(10X4) LD1 LC2
9 PG0V5
DX200 10 PG5V5 P LD2 B2 LB1 LB3
CN1-5 CN1-5 +24V 1 11 PG0V6
CN1-4 P CN1-4 0V 3 12 PG5V6 S-axis with Limit Switch Specification
13
CN1-10 CN1-10 +24V 2 14
CN1-9 P CN1-9 0V 4 15
16 No.22CN No.18CN
CN1-1 CN1-1 SPG+1 22CN-1 DATA+1 18CN-1 DATA+1
CN1-2 P CN1-2 SPG-1 P -2 DATA-1 P -2 DATA-1 S-axis
-6 BAT -6 BAT
P -5 OBT P -5 OBT PG
-4 +5V -4 +5V
P -9 0V P -9 0V
CN1-3 CN1-3 -7 FG1 -10 FG1
FG1
No.23CN No.19CN
CN1-6 CN1-6 SPG+2 23CN-1 DATA+2 19CN-1 DATA+2
CN1-7 P CN1-7 SPG-2 P -2 DATA-2 P -2 DATA-2 L-axis
-6 BAT -6 BAT
P -5 OBT P -5 OBT PG
-4 +5V -4 +5V
P -9 0V P -9 0V
CN1-8 CN1-8 FG2 -7 FG2 -10 FG2
CN4-1 CN4-1 +24V

CN4-6 P CN4-6 LB1
CN4-2 CN4-2 SS2
CN4-7 P CN4-7 AL1
No.16CN
CN2-1 CN2-1 SPG+3 16CN-1 DATA+3
CN2-2 P CN2-2 SPG-3 P -2 DATA-3
-6 BAT
P -5 OBT PG
CN2-3 CN2-3 FG3 -4 +5V U-axis
P -9 0V
-10 FG3
No.9CN
CN2-6 CN2-6 SPG+4 9CN-1 DATA+4
CN2-7 P CN2-7 SPG-4 P -2 DATA-4
1BC(10X4) -3 BAT
P -4 OBT PGLAMP(OPTION)
FOR
CN2-8 CN2-8 10CN-1 +5V
FG4 P -2 0V
-3 FG4
CN2-10 CN2-10 +24V
OBT
P BAT
Internal Cable in BT-axes
No.13CN No.1CN
CN3-1 CN3-1 SPG+5 -1 DATA+5 1CN-1 DATA+5
CN3-2 P CN3-2 SPG-5 P -7 DATA-5 P -2 DATA-5
-2 BAT -3 BAT
CN3-3 CN3-3 -8 OBT P -4 OBT PG B-axis
FG5 -3 +5V 2CN-1 +5V
CN2-4 CN2-4 P -9 0V P -2 0V
CN2-5 P CN2-5 SPG+7 -3 FG5
SPG-7
OBT
CN2-9 CN2-9 BAT
FG7
No.3CN
CN3-6 CN3-6 SPG+6 -4 DATA+6 3CN-1 DATA+6
CN3-7 P CN3-7 SPG-6 P -10 DATA-6 P -2 DATA-6
-3 BAT
-4 OBT PG T-axis
CN3-8 CN3-8 -5 +5V 4CN-1 +5V
FG6 P -11 0V P -2 0V
-6 FG6 -3 FG6
CN4-3 CN4-3 BC2 OBT
CN4-8 P CN4-8 BAT
AL2
CN4-10 CN4-10 0V U
P V R-axis
CN3-4 CN3-4
CN3-5 P CN3-5 0V
+5V
CN3-9 CN3-9 LA1 LB1 LB2 LB2 LA3

0V A1 LB1 P LB3
CN3-10 P CN3-10
+5V A3
CN4-4 CN4-4 +24V LC1 LD1 LD2 LD2 LC3
CN4-5 P CN4-5 LD1 LD1 P LD3
CN4-9 CN4-9 B3
FG8
B1
E
E
8-4 63 of 103
HW1481305
167105-1CD
Fig. 8-4(b): Internal Connection Diagram (DX200)
E E E
Base Casing
3BC(20-29) 3BC(20-29)
E E E E E
3BC-1 1 1 1 1 1 1 3BC-1
-2 2 2 2 P 2 2 P 2 -2
-3 3 3 3 3 3 3 -3
-4 4 4 4 P 4 4 P 4 -4
-5 5 5 5 5 -5
-6 6 6 6 P 6 -6
-7 7 7 SS1 SS1 SS1 SS1 7 -7
-8 8 8 SS2 SS2 P SS2 SS2 P 8 -8 For Spare Cable
-9 9 9 -9
-10 10 P 10 -10
-11 11 11 -11
-12 12 12 -12
-13 13 13 -13
-14 14 14 -14
-15 15 15 -15
-16 16 16 -16
2BC(6X6)
E
E
No.20CN
CN1-1 CN1-1 ME1 20CN-3 MU1
CN1-2 CN1-2 ME2 -2 MV1 S-axis
CN1-3 CN1-3 ME2 -1 MW1 SM
CN1-4 CN1-4 MU1 -PE ME1
CN1-5 CN1-5 MV1 -4 BA1
CN1-6 CN1-6 MW1 -5 BB1 YB
No.21CN
CN2-1 CN2-1 MU2 21CN-3 MU2
CN2-2 CN2-2 MV2 -2 MV2
L-axis
CN2-3 CN2-3 MW2 -1 MW2 SM
CN2-5 CN2-5 MV2 -4 BA2
No.17CN
CN3-1 CN3-1 MU3 17CN-3 MU3
CN3-2 CN3-2 MV3 -2 MV3
U-axis
CN3-5 CN3-5 MV4 -4 BA3
No.11CN
CN4-1 CN4-1 MU5 11CN-1 MU4
2BC(6X6) CN4-2 CN4-2 MV5 -2 MV4
CN4-3 CN4-3 MW5 -3 MW4 SM R-axis
CN4-4 CN4-4 MU6 -4 ME4
CN4-5 CN4-5 MV6 -1 BA4
No.12CN
No.14CN No.5CN
CN5-1 CN5-1 ME3 14CN-1 MU5 5CN-1 MU5
CN5-2 CN5-2 ME4 -2 MV5 -2 MV5
CN5-3 CN5-3 ME5 -3 MW5 -3 MW5 SM B-axis
CN5-4 CN5-4 ME6 -4 ME5 -4 ME5
CN5-5 CN5-5 BA1 -1 BA5
CN5-6 CN5-6 BB1 -2 BB5 YB
No.6CN
No.7CN
CN6-1 CN6-1 BA2 -5 MU6 7CN-1 MU6
CN6-2 CN6-2 BA3 -6 MV6 -2 MV6
CN6-3 CN6-3 BA4 -7 MW6 -3 MW6 SM T-axis
CN6-4 CN6-4 BB4 -8 ME6 -4 ME6
CN6-5 CN6-5 BA5 -1 BA6
CN6-6 CN6-6 BA6 15CN-1 BA5 -2 BB6 YB
-2 BB5 No.8CN
-3 BA6
-4 BB6
No.15CN
PE
E-WRCT(60sq)
Power cable for arc welding (optional)
8-5 64 of 103
HW1481305
167105-1CD
Fig. 8-4(c): Internal Connection Diagram (FS100)
E E E
Base Casing
3BC(20-29) 3BC(20-29)
E E E E E
3BC-1 1 1 1 1 1 1 3BC-1
-2 2 2 2 P 2 2 P 2 -2
-3 3 3 3 3 3 3 -3
-4 4 4 4 P 4 4 P 4 -4
-5 5 5 5 5 -5
-6 6 6 6 P 6 -6
-7 7 7 SS1 SS1 SS1 SS1 7 -7
-9 9 9 -9
-10 10 P 10 -10
-11 11 11 -11
-12 12 12 -12
-13 13 13 -13
-14 14 14 -14
-15 15 15 -15
-16 16 16 -16
2BC(6X6)
E
E
No.20CN
CN1-1 CN1-1 ME1 20CN-3 MU1
CN1-5 CN1-5 MV1 -4 BA1
No.21CN
CN2-1 CN2-1 MU2 21CN-3 MU2
CN2-2 CN2-2 MV2 -2 MV2
L-axis
CN2-5 CN2-5 MV2 -4 BA2
No.17CN
CN3-1 CN3-1 MU3 17CN-3 MU3
CN3-2 CN3-2 MV3 -2 MV3
U-axis
CN3-5 CN3-5 MV4 -4 BA3
No.11CN
CN4-1 CN4-1 MU5 11CN-1 MU4
2BC(6X6) CN4-2 CN4-2 MV5 -2 MV4
CN4-4 CN4-4 MU6 -4 ME4
CN4-5 CN4-5 MV6 -1 BA4
No.12CN
No.14CN No.5CN
CN5-1 CN5-1 ME3 14CN-1 MU5 5CN-1 MU5
CN5-2 CN5-2 ME4 -2 MV5 -2 MV5
CN5-4 CN5-4 ME6 -4 ME5 -4 ME5
CN5-5 CN5-5 BA1 -1 BA5
No.6CN
No.7CN
CN6-1 CN6-1 BA2 -5 MU6 7CN-1 MU6
CN6-2 CN6-2 BA3 -6 MV6 -2 MV6
CN6-4 CN6-4 BB4 -8 ME6 -4 ME6
CN6-5 CN6-5 BA5 -1 BA6
CN6-6 CN6-6 BA6 15CN-1 BA5 -2 BB6 YB
-2 BB5 No.8CN
-3 BA6
-4 BB6
No.15CN
PE
E-WRCT(60sq)
8-6 65 of 103
HW1481305
167105-1CD
Fig. 8-4(d): Internal Connection Diagram (FS100)
E E E
Base Casing
3BC(20-29) 3BC(20-29)
E E E E E
3BC-1 1 1 1 1 1 1 3BC-1
-2 2 2 2 P 2 2 P 2 -2
-3 3 3 3 3 3 3 -3
-4 4 4 4 P 4 4 P 4 -4
-5 5 5 5 5 -5
-6 6 6 6 P 6 -6
-7 7 7 SS1 SS1 SS1 SS1 7 -7
-9 9 9 -9
-10 10 P 10 -10
-11 11 11 -11
-12 12 12 -12
-13 13 13 -13
-14 14 14 -14
-15 15 15 -15
-16 16 16 -16
2BC(6X6)
E
E
No.20CN
CN1-1 CN1-1 ME1 20CN-3 MU1
CN1-5 CN1-5 MV1 -4 BA1
No.21CN
CN2-1 CN2-1 MU2 21CN-3 MU2
CN2-2 CN2-2 MV2 -2 MV2
L-axis
CN2-5 CN2-5 MV2 -4 BA2
No.17CN
CN3-1 CN3-1 MU3 17CN-3 MU3
CN3-2 CN3-2 MV3 -2 MV3
U-axis
CN3-5 CN3-5 MV4 -4 BA3
No.11CN
CN4-1 CN4-1 MU5 11CN-1 MU4
2BC(6X6) CN4-2 CN4-2 MV5 -2 MV4
CN4-4 CN4-4 MU6 -4 ME4
CN4-5 CN4-5 MV6 -1 BA4
No.12CN
No.14CN No.5CN
CN5-1 CN5-1 ME3 14CN-1 MU5 5CN-1 MU5
CN5-2 CN5-2 ME4 -2 MV5 -2 MV5
CN5-4 CN5-4 ME6 -4 ME5 -4 ME5
CN5-5 CN5-5 BA1 -1 BA5
No.6CN
No.7CN
CN6-1 CN6-1 BA2 -5 MU6 7CN-1 MU6
CN6-2 CN6-2 BA3 -6 MV6 -2 MV6
CN6-4 CN6-4 BB4 -8 ME6 -4 ME6
CN6-5 CN6-5 BA5 -1 BA6
CN6-6 CN6-6 BA6 15CN-1 BA5 -2 BB6 YB
-2 BB5 No.8CN
-3 BA6
-4 BB6
No.15CN
PE
E-WRCT(60sq)
8-7 66 of 103
HW1481305
167105-1CD
MH12 9 Maintenance and Inspection
9.1 Inspection Schedule
9 Maintenance and Inspection
DANGER
• Maintenance and inspection must be performed by specified
personnel.
Failure to observe this caution may result in electric shock or injury.
• For disassembly or repair, contact your YASKAWA representative.
• Do not remove the motor, and do not release the brake.
Failure to observe these safety precautions may result in death or
serious injury from unexpected turning of the manipulator's arm.
WARNING
• Before maintenance or inspection, be sure to turn the main power
supply OFF, and put up a warning sign. (ex. DO NOT TURN THE
POWER ON.)
Failure to observe this warning may result in electric shock or injury.
CAUTION
• The battery pack must be connected before removing detection
connector when maintenance and inspection.
Failure to observe this caution may result in the loss of home position
data.

Proper inspections are essential not only to assure that the mechanism
will be able to function for a long period, but also to prevent malfunctions
and assure safe operation. Inspection intervals are classified into six
levels as shown in Table 9-1 “Inspection Items”.
In Table 9-1, the inspection items are categorized by three types of
operations: operations which can be performed by personnel authorized
by the user, operations to be performed by trained personnel, and
operations to be performed by service company personnel. Only specified
personnel shall perform the inspection work.
• The inspection interval depends on the total servo

operation time.
• The following inspection schedule is based on the case
where the manipulator is used for arc welding application.
If the manipulator is used for other application or if it is
NOTE used under special conditions, a case-by-case
examination is required.
The inspection may be conducted at shorter intervals if the
manipulator is used very frequently for the application
such as handling; in this case, contact your YASKAWA
representative.
9-1 HW1481305 67 of 103

MH12
Table 9-1: Inspection Items (Sheet 1 of 2)
Items1) Schedule Method Operation Inspection
Charge
12000HCycle
1000HCycle
6000HCycle
Personnel
Company
Specified
Licensee
Service
24000H
36000H
Daily
1 Alignment mark
• Visual Check alignment mark accordance at the home position.
Cheek for damage.
• • •

9
2 External lead
• Visual Check for damage and deterioration of leads.
• • •
Maintenance and Inspection

3 Working area and
manipulator
• Visual Clean the work area if dust or spatter is present. Check for damage and
outside cracks.
• • •
4 Motors for S-, L-, U-axes
• Visual Check for grease leakage.2)
• • •
5 Baseplate mounting bolts
• Spanner
Wrench
Tighten loose bolts. Replace if necessary.
• • •
6 Cover mounting screws
• Screwdriver, Tighten loose bolts. Replace if necessary.
• • •
9-2
Wrench
7 Connector base
• Manual Check for loose connectors.
• • •
8 Timing belts for B- and
T-axes
• Manual Check for belt tension and wear.
• •
9 Wire harness in manipulator
(SLU-axes wires)
• Visual,
Multimeter
Check for conduction between the main connector of base and
intermediate connector with manually shaking the wires. Check for wear of
• •
(RBT-axes wires) protective spring.3)
• Replace4)
•
10 Wire harness in manipulator
(BT-axis wires)
• Visual,
Multimeter
Check for conduction between terminals and wear of protective spring.3)
• •
HW1481305
• Replace4)
•
11 Protective tubing
• Visual Check for holes or tears, and adhesion of spatters. Replace it if any.
• • •
(velcro type)
• Refer to “MOTOMAN MA1440/MH12 OPTIONS FOR PROTECTIVE
TUBING (VELCRO TYPE) REPLACING PROCEURES. (HW1482530) for
• • •
replacing the protective tubing (velcro type).
12 Battery pack in manipulator
• Replace the battery pack when the battery alarm occurs or the manipulator
• •
167105-1CD
drove for 36000H.
68 of 103
Table 9-1: Inspection Items (Sheet 2 of 2)
MH12
167105-1CD
Items1) Schedule Method Operation Inspection
Charge
12000HCycle
1000HCycle
6000HCycle
Personnel
Company
Specified
Licensee
Service
24000H
36000H
Daily
13 S-axis speed reducer
• • Grease Gun Check for malfunction. (Replace if necessary.)
Supply grease5) (6000H cycle). See section 9.3.1.
• •
Replace grease(12000H cycle). See section 9.3.1.

9
14 Speed reducers for L- and
U-axes
• • Grease Gun Check for malfunction. (Replace if necessary.)
Supply grease5) (6000H cycle).
• •
Maintenance and Inspection

See section 9.3.2 and section 9.3.3.
Replace grease5) (12000H cycle).
See section 9.3.2and section 9.3.3.
15 R-axis speed reducer
• Grease Gun Check for malfunction. (Replace if necessary.)
• •
16 B-axis speed reducer
• •
9-3

17 T-axis gear
Supply grease5) (6000H cycle). See section 9.3.6
• •
18 Overhaul
• •
1 Inspection No. correspond to the numbers in Fig. 9-1 “Inspection Items”.
2 The occurrence of a grease leakage indicates the possibility that grease has seeped into the motor. This can cause a motor breakdown. Contact your YASKAWA
representative.
HW1481305
3 When checking for conduction with multimeter, connect the battery to “BAT” and “OBT” of connectors on the motor side for each axis, and then remove connectors on
detector side for each axis from the motor. Otherwise, the home position may be lost. (Refer to section 9.3.8 “Notes for Maintenance”)
4 Wire harness in manipulator to be replaced at 24000H inspection.
5 For the grease, refer to Table 9-2 “Inspection Parts and Grease Used”.
Table 9-2: Inspection Parts and Grease Used

No. Grease Used Inspected Parts
12, 13 VIGO Grease RE No. 0 Speed reducers for S-, L- and U-axes
14,15 Harmonic Grease SK-1A Speed reducers for R- and B-axes, R-axis gear
16 Alvania EP Grease 2 T-axis gear
69 of 103
The numbers in the above table correspond to the numbers in Table 9-1 “Inspection Items”
MH12
Fig. 9-1: Inspection Items
4
5
15 8

9 Maintenance and Inspection
8
9-4
17
11
14
4
11
14
HW1481305
9 4
12
13
167105-1CD
70 of 103
167105-1CD
9.2 Notes on Maintenance Procedures
9.2 Notes on Maintenance Procedures
9.2.1 Battery Pack Replacement

The battery packs are installed in the position shown in Fig. 9-2 “Battery
Location”. If the battery alarm occurs in the DX200/FS100, replace the
battery in accordance with the following procedure:
Fig. 9-2: Battery Location
Support
Connector base Battery pack
Plate fixing screw
Fig. 9-3: Battery Connection

Battery pack
See step 5 below before replacement
Connector
Board
(type: SGDR-EFBA02A) See step 4 below
New battery pack
1. Turn OFF the DX200/FS100 main power supply.

2. Remove the plate fixing screws and the plate on the connector base,
then pull the battery pack out to replace it with the new one.
3. Remove the battery pack from the battery holder.
4. Connect the new battery pack to the unoccupied connector on the
board.
5. Remove the old battery pack from the board.
NOTE Remove the old battery pack after connecting the new one
so that the encoder absolute data does not disappear.
6. Mount the new battery pack to the holder.

7. Reinstall the plate.
NOTE Do not allow plate to pinch the cables when reinstalling the
plate.
9-5 HW1481305 71 of 103

167105-1CD

9.3 Notes on Grease Replenishment/Exchange Procedures

Make sure to follow the instructions listed below at grease replenishment/
exchange. Failure to observe the following notes may result in damage to
motor and speed reducer.
• If grease is added without removing the plug/screw from

the grease exhaust port, the grease will leak inside a
motor or an oil seal of a speed reducer will come off, which
may result in damage to the motor. Make sure to remove
the plug/screw.
• Do not install a joint, a hose, etc. to the grease exhaust
port. Failure to observe this instruction may result in
NOTE damage to the motor due to coming off of an oil seal.
• Make sure to use a grease pump to inject grease. Set air
supply pressure to the grease pump at 0.3 MPa or less,
and the grease injection rate at 8 g/s or less.
• Make sure to fill hoses, which are joined to the grease
inlet, with grease beforehand to prevent air from intruding
into the speed reducer.
9-6 HW1481305 72 of 103

167105-1CD
9.3.1 Grease Replenishment/Exchange for S-Axis Speed Reducer

Fig. 9-4: S-Axis Speed Reducer Diagram
Grease exhaust port

Hexagon socket head plug PT3/8
(Grease inlet: when mounted on the ceiling)
Grease inlet
Hexagon socket head plug PT3/8 S-axis speed reducer
(Grease exhaust port: when mounted on the ceiling)
9.3.1.1 Grease Replenishment

(Refer to Fig. 9-4 “S-Axis Speed Reducer Diagram”.)
Replenish the grease according to the following procedure:
1. Remove the hexagon socket head plugs PT3/8 from the grease inlet
and grease exhaust port.
• Note that the function of grease inlet and grease exhaust

port exchanges when the manipulator is mounted on the
ceiling.
• If grease is injected with the plug on, the grease will leak
NOTE inside the motor and may cause a damage. Make sure to
remove the plug before the grease injection.
damage to the motor due to coming off of an oil seal.
2. Install a grease zerk A-PT3/8 to the grease inlet.

(The grease zerk is delivered with the manipulator.)
3. Inject the grease through the grease inlet using a grease gun
– Grease type: VIGO Grease RE No. 0
– Amount of grease: 70 cc (140 cc for 1st supply)
– Air supply pressure of grease pump: 0.3 MPa or less
– Grease injection rate: 8 g/s or less
4. Move the S-axis for a few minutes to discharge excess grease.
5. Remove the grease zerk from the grease inlet, and reinstall the plug.
Before installing the plug, apply Three Bond 1206C on the thread part
of the plug. Then tighten the screw with a tightening torque of 23 N•m
(2.34 kgf•m).
6. Wipe the discharged grease with a cloth, and reinstall the plug. Before
installing the plug, apply Three Bond 1206C on the thread part of the
plugs. Then tighten the plug with a tightening torque of 23 N•m
(2.34 kgf•m).
9-7 HW1481305 73 of 103

167105-1CD

9.3.1.2 Grease Exchange

(Refer to Fig. 9-4 “S-Axis Speed Reducer Diagram”.)
and grease exhaust port.

ceiling.

3. Inject the grease through the grease inlet using a grease gun.
– Amount of grease: approx. 450 cc
4. The grease exchange is completed when new grease appears in the
grease exhaust port.
(The new grease can be distinguished from the old grease by color.)
5. Move the S-axis for a few minutes to discharge excess grease.
of the plug. Then tighten the screw with a tightening torque of 23 N•m
(2.34 kgf•m).
plugs. Then tighten the plug with a tightening torque of 23 N•m
(2.34 kgf•m).
9-8 HW1481305 74 of 103

167105-1CD
9.3.2 Grease Replenishment/Exchange for L-Axis Speed Reducer

Fig. 9-5: L-Axis Speed Reducer Diagram
Grease exhaust port
(Grease exhaust inlet: when mounted on the ceiling)
L-arm
Grease inlet
Hexagon socket head tapered pipe plug
(NPTF type) NPTF3/8

(Refer to Fig. 9-5 “L-Axis Speed Reducer Diagram”.)
1. Make the L-arm vertical to the ground.
2. Remove the hexagon socket head tapered pipe plug (NPTF type)
NPTF3/8 from the grease inlet and remove the hexagon socket head
plug PT3/8 from the grease exhaust port.

ceiling.

4. Inject grease through the grease inlet using a grease gun.
5. Move the L-axis for a few minutes to discharge excess grease.
9-9 HW1481305 75 of 103

167105-1CD

6. Remove the grease zerk from the grease inlet, and reinstall the
hexagon socket head tapered pipe plug (NPTF type) NPTF3/8. Before
installing the plug, apply Three Bond 1206C on the thread part of it.
Then tighten it with a tightening torque of 23 N•m (2.34 kgf•m).
The hexagon socket head tapered pipe plug (NPTF type) protrudes
from the L-arm mounting surface. Be careful not to tighten it too much.
7. Wipe the discharged grease with a cloth, and reinstall the hexagon
socket head plug PT3/8. Before installing the plug 3/8, apply Three
Bond 1206C on the thread part of it. Then tighten it with a tightening
torque of 23 N•m (2.34 kgf•m).
When installing a plug to the grease inlet or the grease

exhaust port, please be careful not to install the wrong plug.
NOTE For the corresponding plugs and their installing positions,
refer to Fig. 9-5 “L-Axis Speed Reducer Diagram”. Should
wrong plug is installed, the tapped hole may damage or the
plug may fall inside the L-axis driving part.

(Refer to Fig. 9-5 “L-Axis Speed Reducer Diagram”.)
1. Make the L-arm vertical to the ground.
2. Remove the hexagon socket head tapered pipe plug (NPTF type)
NPTF3/8 from the grease inlet and remove the hexagon socket head
plug PT3/8 from the grease exhaust port..
• Note that the function of grease inlet and exhaust port

exchanges when the manipulator is mounted on the
ceiling.

5. The grease exchange is completed when new grease appears in the
grease exhaust port. (The new grease can be distinguished from the
old grease by color.)
6. Move the L-axis for a few minutes to discharge excess grease.
9-10 HW1481305 76 of 103

167105-1CD
hexagon socket head tapered pipe plug (NPTF type) NPTF3/8. Before
installing the plug, apply Three Bond 1206C on the thread part of it.
Then tighten it with a tightening torque of 23 N•m (2.34 kgf•m).
The hexagon socket head tapered pipe plug (NPTF type) protrudes
from the L-arm mounting surface. Be careful not to tighten it too much.
socket head tapered pipe plug (NPTF type) NPTF3/8. Before installing
the hexagon socket head tapered pipe plug (NPTF type), apply Three
Bond 1206C on the thread part of it. Then tighten it with a tightening

refer to Fig. 9-5 “L-Axis Speed Reducer Diagram”. Should
plug may fall inside the L-axis driving part.
9-11 HW1481305 77 of 103

167105-1CD

9.3.3 Grease Replenishment/Exchange for U-Axis Speed Reducer

Fig. 9-6: U-Axis Speed Reducer Diagram
U-axis
speed reducer
U-arm
Casing
Grease exhaust port
Hexagon socket head tapered pipe plug
(NPTF type)NPTF3/8
Grease inlet
Casing
9.3.3.1 Grease Replenishment

(Refer to Fig. 9-6 “U-Axis Speed Reducer Diagram”.)
1. Make the U-arm horizontal to the ground.
2. Remove the hexagon socket head plug PT3/8 from the grease inlet
and the hexagon socket head tapered pipe plug (NPTF type)
NPTF3/8 from the grease exhaust port.

ceiling.
• f grease is injected with the plug on, the grease will leak

5. Move the U-axis for a few minutes to discharge excess grease.
hexagon socket head plug PT3/8. Before installing the plug, apply
Three Bond 1206C on the thread part of the plug, then tighten the plug
with a tightening torque of 23 N•m (2.3 kgf•m).
9-12 HW1481305 78 of 103

167105-1CD
socket head tapered pipe plug (NPTF type) NPTF3/8 to the grease
exhaust port. Before installing the plug, apply Three Bond 1206C on
the thread part of it, then tighten it with a tightening torque of 23 N•m
(2.34 kgf•m).
The hexagon socket head tapered pipe plug (NPTF type) NPTF3/8
protrudes from the L-arm mounting surface. Be careful not to tighten it
too much.

refer to Fig. 9-6 “U-Axis Speed Reducer Diagram”. Should
plug may fall inside the U-axis driving part.
9-13 HW1481305 79 of 103

167105-1CD


(Refer to Fig. 9-6 “U-Axis Speed Reducer Diagram”.)
1. Make the U-arm horizontal to the ground.
2. Remove the hexagon socket head plug PT3/8 from the grease inlet
and the hexagon socket head tapered pipe plug (NPTF type)
NPTF3/8 from the grease exhaust port.

ceiling.

5. The grease exchange is complete when new grease appears in the
grease exhaust port.
(The new grease can be distinguished from the old grease by color.)
6. Move the U-axis for a few minutes to discharge excess grease.
hexagon socket head plug PT3/8. Before installing the plug, apply
Three Bond 1206C on the thread part of it, then tighten it with a
tightening torque of 23 N•m (2.34 kgf•m).
socket head tapered pipe plug (NPTF type) NPTF3/8 to the grease
exhaust port. Before installing the plug, apply Three Bond 1206C on
the thread part of it, then tighten it with a tightening torque of 23 N•m
(2.34 kgf•m).
The hexagon socket head tapered pipe plug (NPTF type) NPTF3/8
protrudes from the L-arm mounting surface. Be careful not to tighten it
too much.

refer to Fig. 9-6 “U-Axis Speed Reducer Diagram”. Should
plug may fall inside the U-axis driving part.
9-14 HW1481305 80 of 103

167105-1CD
9.3.4 Grease Replenishment for R-Axis Speed Reducer

Fig. 9-7: R-Axis Speed Reducer Diagram
R-axis speed reducer
Exhaust port
Grease inlet
(Exhaust port: when mounted on the ceiling)
and exhaust port.
NOTE Note that the function of grease inlet and exhaust port
exchanges when the manipulator is mounted on the ceiling.

(Refer to Fig. 9-7 “R-Axis Speed Reducer Diagram”.)
– Grease type: Harmonic grease SK-1A
– Amount of grease: 6 cc
The exhaust port is used for air exhaust, and the grease is
NOTE not exhausted from the exhaust port. Do not inject
excessive grease through the grease inlet.
of the plug, then tighten the plug with a tightening torque of 4.9 N•m
(0.49 kgf•m).
5. Reinstall the plug to the exhaust port. Before installing the plug, apply
Three Bond 1206C on the thread part of the plug, then tighten the plug
with a tightening torque of 4.9 N•m (0.49 kgf•m).
9-15 HW1481305 81 of 103

167105-1CD

9.3.5 Grease Replenishment for B-Axis Speed Reducer

Fig. 9-8: B-Axis Speed Reducers Diagram
Exhaust port
Hexagon socket head
cap screw M6
B-axis speed
reducer
Grease inlet
Hexagon socket head
cap screw M6
1. Remove the hexagon socket head cap screws M6 from the grease
inlet and exhaust port.
2. Install a grease zerk A-MT6X1 to the grease inlet.
3. Inject grease through the grease inlet using a grease gun
(Refer to Fig. 9-8 “B-Axis Speed Reducers Diagram”.)
4. Remove the grease zerk from the grease inlet, and reinstall the screw.
Before installing the screw, apply Three Bond 1206C on the thread
part of the screw, then tighten the screw with a tightening torque of
6 N•m (0.6 kgf•m).
5. Reinstall the screw to the exhaust port. Before installing the screw,
apply Three Bond 1206C on the thread part of the screw, then tighten
the screw with a tightening torque of 6 N•m (0.6 kgf•m).
9-16 HW1481305 82 of 103

167105-1CD
9.3.6 Grease Replenishment for T-Axis Gear

Fig. 9-9: T-Axis Gear Diagram
T-axis Gear
Grease exhaust port

Hexagon socket
set screw M6
Grease inlet 1
Hexagon socket
head cap screw M6
Grease inlet 2
Hexagon socket
head cap screw M6
1. Remove the hexagon socket head cap screws M6 from the grease
inlet 1 and exhaust port.
2. Install a grease zerk A-MT6X1 to the grease inlet 1.
3. Inject grease through the grease inlet 1 using a grease gun.
– Grease type: Alvania EP Grease 2
4. Remove the grease zerk from the grease inlet 1, and reinstall the
screw. Before installing the screw, apply Three Bond 1206C on the
thread part of the screw, then tighten the screw with a tightening
5. Remove the hexagon socket head cap screw M6 from the grease
inlet 2.
6. Install a grease zerk A-MT6X1 to the grease inlet 2.
9-17 HW1481305 83 of 103

167105-1CD

7. Inject grease through the grease inlet 2 using a grease gun.

– Grease type: Alvania EP Grease 2
8. Remove the grease zerk from the grease inlet 2, and reinstall the
screw. Before installing the screw, apply Three Bond 1206C on the
thread part of the screw, then tighten the screw with a tightening
9. Reinstall the set screw to the exhaust port. Before installing the set
screw, apply Three Bond 1206C on the thread part of the screw, then
tighten the screw with a tightening torque of 6 N•m (0.6 kgf•m).
9-18 HW1481305 84 of 103

167105-1CD
9.3.7 Grease Replenishment for R-Axis Gear
Fig. 9-10: R-Axis Gear Diagram

R-axis gear
Grease exhaust port

Grease inlet
1. Make the U-arm vertical to the ground.

and exhaust port.

ceiling.

(Refer to Fig. 9-10 “R-Axis Gear Diagram”.)
5. Move the R-axis for a few minutes to discharge excess grease.
of the plug. Then tighten the plug with a tightening torque of 4.9 N•m
(0.5 kgf•m).
9-19 HW1481305 85 of 103

167105-1CD

plug. Then tighten the plug with a tightening torque of 4.9 N•m (0.5
kgf•m).
9-20 HW1481305 86 of 103

167105-1CD
9.3.8 Notes for Maintenance
9.3.8.1 Wrist Unit

The motor and encoder units are provided with the wrist unit. To prevent
fumes from penetrating into the wrist unit, the matched parts are sealed
with sealing bond. If the wrist cover is disassembled, make sure to reseal
with sealing bond (Three Bond 1206C, refer toTable 10-1 “Spare Parts for
the YR-MA1440/MH12-A00”.)
Fig. 9-11: Sealing Part of Wrist Unit
Cover
Cover jointing face
Cover jointing face
Cover
9.3.8.2 Battery Pack Connection
When performing maintenance such as replacement of a

wire harness in the manipulator, the encoder connector
(with CAUTION label) will be removed. In this case, be sure
to connect the battery pack to the battery backup connector
before removing the encoder connector.
NOTE Removing the encoder connector without connecting the

battery pack leads to disappearance of the encoder
absolute data.
For the battery pack connection, refer to Fig. 9-12(a)
“Encoder connector Diagram (for S-, L- and U-Axes)” and
Fig. 9-12(b) “Encoder Connector Diagram (for R-, B-, and T-
Axes)”.
Before removing the encoder connector (with CAUTION label), connect

the battery pack referring to the following figures.
9-21 HW1481305 87 of 103

167105-1CD

Fig. 9-12(a): Encoder connector Diagram (for S-, L- and U-Axes)

Motor
Motor power connector

Encoder connector
0BT b a 0BT*
BAT a b BAT*
Battery pack HW9470932-A

Connector for battery back-up
Fig. 9-12(b): Encoder Connector Diagram (for R-, B-, and T-Axes)
Encoder
Motor
Motor cable, etc.
Wire harness Power connector

in manipulator
Connection
a OBT4
OBT b b BAT4
BAT a
removing connector.
to save the data before
Connect battery to encoder
CAUTION
Encoder connector Battery pack
CAUTION label
Connection Diagram
0BT b a 0BT4
BAT a b BAT4
CAUTION Label (Enlarged View)
a: Crimped contact-pin (Pin)
CAUTION b: Crimped contact-pin (Socket)
Connect battery to encoder

to save the data before
removing connector.
9-22 HW1481305 88 of 103

167105-1CD
MH12 10 Recommended Spare Parts
10 Recommended Spare Parts

It is recommended to keep the parts and components in the following table
in stock as spare parts for the MOTOMAN-MH12. Product performance
cannot be guaranteed when using spare parts from any company other
than YASKAWA. The spare parts are ranked as follows:
• Rank A: Expendable and frequently replaced parts.
• Rank B: Parts for which replacement may be necessary as a result of
frequent operation.
• Rank C: Drive unit.
NOTE For replacing parts in Rank B or Rank C, contact your

YASKAWA representative.
Table 10-1: Spare Parts for the YR-MA1440/MH12-A00 (Sheet 1 of 2)

Rank Parts Name Type Manufacturer Qty Qty Remarks
No. per
Unit
A 1 Grease VIGO Grease RE No. 0 YASKAWA 16 kg -
A 2 Grease Harmonic Grease SK- Harmonic Drive Systems 2.5 kg -
1A Co., Ltd.
A 3 Grease Alvania EP Grease 2 Showa Shell Sekiyu K.K. 16 kg -
A 4 Liquid Seal Three Bond 1206C Three Bond Co., Ltd. - -
A 5 Battery Pack HW0470360-A YASKAWA 1 1
A 6 Battery Pack HW9470932-A YASKAWA 1 -
A 7 Protective Tubing MTK-50FR YASKAWA (0.5 m+ 0.6 m) 1.1 m -
(velcro type)
B 8 B-Axis Timing Belt 60S3M642 Mitsuboshi Belting Limited 1 1
B 9 T-Axis Timing Belt 80S3M819 Mitsuboshi Belting Limited 1 1
B 10 S-Axis Speed HW0386621-B YASKAWA 1 1
Reducer
B 11 S-Axis Input Gear HW0312734-2 YASKAWA 1 1
B 12 L-Axis Speed HW0387809-A YASKAWA 1 1
Reducer
B 13 L-Axis Input Gear HW0312735-2 YASKAWA 1 1
B 14 U-Axis Speed HW1380153-A YASKAWA 1 1
Reducer
B 15 U-Axis Input Gear HW1303245-1 YASKAWA 1 1
B 16 R-Axis Speed HW1382521-A YASKAWA 1 1
Reducer
B 17 B-Axis Speed HW1382522-A YASKAWA 1 1
Reducer
B 18 R-Axis Gear HW1303246-1 YASKAWA 1 each 1 each
HW1303247-1
B 19 T-Axis Gear HW1371294-A YASKAWA 1 1
(Output Side)
B 20 T-Axis Gear HW1303250-1 YASKAWA 1 1
(Input Side)
10-1 HW1481305 89 of 103

167105-1CD
MH12 10 Recommended Spare Parts
Table 10-1: Spare Parts for the YR-MA1440/MH12-A00 (Sheet 2 of 2)

Rank Parts Name Type Manufacturer Qty Qty Remarks
No. per
Unit
B 21 Internal Wire HW1171418-A YASKAWA 1 1 For -A00
Harness
B 22 Internal Wire HW1171418-C YASKAWA 1 1 For -A02
Harness
B 23 Internal Cable for HW1270926-A YASKAWA 1 1
B- and T-Axes
C 24 AC Servomotor for SGMRV-05ANA-YR2* YASKAWA 1 2
S- and U-Axes HW0388664-A
C 25 L-Axis AC SGMRV-09ANA-YR1* YASKAWA 1 1
Servomotor HW0388665-A
C 26 R-, B- and T-Axis SGMAV-01ANA-YR1* YASKAWA 1 1
AC Servomotors HW0389294-A
C 27 Circuit Board SGDR-EFBA02A YASKAWA 1 1
10-2 HW1481305 90 of 103

167105-1CD
MH12 11 Parts List
11.1 S-Axis Unit
11 Parts List
11.1 S-Axis Unit

Fig. 11-1: S-Axis Unit
1010
1015
1003
1027
1025 1005
1010
1004
1010 1014
1006
1028
1012
1029
1025
1009
1011
1020
1021 1032
1019 1031
1025 1030
1023
1008
1024
1002
1025
1033 1006
1007
1001
1026
11-1 HW1481305 91 of 103

167105-1CD
MH12 11 Parts List

11.1 S-Axis Unit
Table 11-1: S-Axis Unit

No. DWG No. Name Pcs
1001 HW1100498-1 Base 1
1002 HW0386621-B Speed reducer 1
1003 HW0312734-2 Gear 1
1004 2L-5 Conical spring washer 1
1005 M5×85 Hexagon socket head cap
screw
1006 ATSH8-03 Union 2
1007 NB-0860-0.3 Tube 1
1008 M6×35 GT-SA bolt 16
1009 HW1303263-1 M base 1
1010 M8×25 GT-SA bolt 28
1011 HW1100499-1 S head 1
1012 PT3/8 Hexagon socket head 1
plug
1014 NB-0860-0.2 Tube 1
1015 SGMRV-05ANA-YR2* Motor 1
1019 CD31 Saddle 1
1020 M5×8 Hexagon socket head cap 2
screw
1023 HW0414670-2 Support 1
1024 HW1303253-1 Cover 1
1025 M6×15 GT-SA bolt 21
1026 M5×10 (STAINLESS) APS bolt 6
1027 HW1303254-1 Cover 1
1028 C-30-SG-30A Gromet 1
1029 HW1303255-1 Cover 1
1030 TA1-S10 Clamp 1
1031 M5×8 (STAINLESS) Pan-head sems screw 1
1032 T50R Cable tie 1
1033 EZ5036A0 Cap 1
11-2 HW1481305 92 of 103

167105-1CD
MH12 11 Parts List
11.2 L-Axis Unit
11.2 L-Axis Unit

Fig. 11-2: L-Axis Unit
2007 2008
2011
2005
2009
2004 1011
2003
2006
2008
2012
2013
2010
2014
2002
2001
11-3 HW1481305 93 of 103

167105-1CD
MH12 11 Parts List

11.2 L-Axis Unit
Table 11-2: L-Axis Unit

2001 M6×60 GT-SA bolt 16
2002 NPTF3/8 (STAINLESS) Hexagon socket head 1
tapered pipe plug
(NPTF type)
screw
2005 HW0312735-2 Gear 1
2006 M6×15 GT-SA bolt 4
2008 M8×25 GT-SA bolt 22
plug
2010 HW0387809-A Speed reducer 1
2011 HW1100500-1 L-arm 1
2012 HW1304187-1 Cover 1
2013 HW1405226-1 Support 1
2014 M5×10 GT-SA bolt 2
1011 HW1100499-1 S head 1
11-4 HW1481305 94 of 103

167105-1CD
MH12 11 Parts List
11.3 U-Axis Unit
11.3 U-Axis Unit

Fig. 11-3: U-Axis Unit
3029 3001
3012 3003
3011
3022
3023 3028
3023 3021 3020

3006
3019 3024
3005
3004 3013
3018
3017 3025
3003 3016 3026
3010 3009
3014 3002 3003
3027
3002 3015
3008
3007
2011
11-5 HW1481305 95 of 103

167105-1CD
MH12 11 Parts List

11.3 U-Axis Unit
Table 11-3: U-Axis Unit

3001 HW1100617-1 Casing 1
screw
3003 M4×12 GT-SA bolt 9
screw
3006 HW1303245-1 Gear 1
3007 NPTF3/8 (STAINLESS) Hexagon socket head 1
tapered pipe plug
(NPTF type)
3009 M5×25 GT-SA bolt 16
3010 M10×30 GT-SA bolt 6
3012 M8×30 GT-SA bolt 4
3013 M6×25 GT-SA bolt 3
3014 HW1404044-1 Plate 1
plug
3016 HW1404041-1 Support 1
3017 HW0404554-2 N base 1
3019 M3 Nut 2
3020 M4×12 GT-SA bolt 4
3021 KQE10-03 Union 1
3022 KQE12-03 Union 1
3023 PT3/8 (STAINLESS) Hexagon socket head 2
plug
3024 HW1404786-1 Gasket 1
3025 TA1-58 Clamp 1
3027 T50R Cable tie 1
3028 HW1404517-1 Gasket 1
3029 HW1404057-1 Cover 1
2011 HW1100500-1 L-arm 1
11-6 HW1481305 96 of 103

167105-1CD
MH12 11 Parts List
11.4 R-Axis Unit (Shipped in or After August 2014)

Fig. 11-4: R-Axis Unit
5063
4006
4004
3001
4021
4004
4001
4005
4030 4028
4033 4026
4027
4001
4011 4010
4029
4028
4032 4027
4003
4008
4026
4001 4001
4023 4024
4002
4001 4009
4014
4014 4023 4025

4012
(shipped in or before July 2014)
4013 4015 4016 4038 4041
4020
4018
4007
4019
4022
4037
4017 4034
4001 4036
4039
4035
4040
11-7 HW1481305 97 of 103

167105-1CD
MH12 11 Parts List

Table 11-4: R-Axis Unit

4001 M4×12 GT-SA bolt 10
plug
4003 HW1304069-1*1 Shaft 1
4004 M6×20 GT-SA bolt 13
4005 HW1304196-1*1 Shaft 1
4006 TC1151306 Oil seal 1
4007 AE0478G Oil seal 1
4008 TC52647 Oil seal 1
4009 HW1303247-1 Gear 1
4011 M5×45 GT-SA bolt 6
4012 HW1303905-1 Housing 1
4013 HW1303257-1 Shaft 1
4014 M3×12 GT-SA bolt 11
4015 HW1303246-1 Gear 1
4016 HW1404045-1 M base 1
4017 M3×16 GT-SA bolt 3
screw
4020 HW0404304-2 Gasket 1
4021 HW1404056-1 Cover 1
4022 SGMAV-01ANA-YR1* Motor 1
4023 M4×12 GT-SA bolt 11
4024 HW9481319-D Cable bushing 1
4025 HW1303904-1 Cover 1
4026 PZ1212 Saddle 2
4027 M4×6 (STAINLESS) APS bolt 8
4028 PZ1208 Saddle 2
4029 HW1404042-1 Support 1
4030 HW1404043-1 Support 1
4032 HW1404499-1 Cover 1
4033 M6×40*1 GT-SA bolt 7
4034 HW1304053-1*2 Shaft 1
4035 HW1404986-1*2 Ring 1
4036 HW1405180-1*2 Ring 1
4037 HW1404958-1*2 Shaft 1
*2
4038 M6×35 GT-SA bolt 7
4039 M4×25*2 Hexagon socket head cap 2
screw
4040 2L-4*2 Conical spring washer 1
4041 M6×15*2 GT-SA bolt 3
3001 HW1100617-1 Casing 1
5063 HW1100618-1 U-arm 1
*1 Use items shipped in or after August 2014
*2 Use items shipped in or before July 2014
11-8 HW1481305 98 of 103

167105-1CD
MH12 11 Parts List
11.5 Wrist Unit
11.5 Wrist Unit

Fig. 11-5: Wrist Unit
5043
5045
5008
5007 5041
5006 5001
5047 5040
5035 5005 5046
5042
5055 5044
5039 5009
5038 5028
5036
5037
5001
5026 5002
5003
5021
5005 5005
5025
5022 5019
5018
5020
5005
5027
5029 5031
5067 5016 5030 5024
5005
5033
5017 5028
5032
5066
5015
5011 5069
5034
5013 5023
5014 5062
5012
5065 5063
5010 5054
5058 5051
5050 5005
3001 5058 5048
5059 5064
5052
5060
5049 5005
5010
5061
5065 5053
5014
5066 5015
5056
5069
5057
5068
11-9 HW1481305 99 of 103

167105-1CD
MH12 11 Parts List

11.5 Wrist Unit
Table 11-5: Wrist Unit (Sheet 1 of 2)

5001 M6X6 Hexagon socket head cap
5
screw
5002 HW0404371-1 Bolt 1
5003 HW1404058-1 Cover 1
5005 M3×10 GT-SA bolt 39
5006 HW1404060-1 Gasket 1
5007 HW1404069-1 Cover 1
5008 M4X10 (STAINLESS) APS bolt 2
5009 M4×10 GT-SA bolt 23
5010 M4×10 GT-SA bolt 4
5011 HW1404053-1 Fly wheel 1
5012 HW1404038-A Pulley 1
HW1404038-B
Pulley 1
(For the manipulator assembled after Jun 21. 2015)
1
screw
M4×20 Hexagon socket head cap
1
(For the manipulator assembled after Jun 21. 2015) screw
5015 M4×16 GT-SA bolt 4
5016 HW1303244-1*1 Cover 1
HW1304180-1*2 Cover 1
5017 80S3M819 Belt 1
5018 WR20 Circlip 1
5019 HW1303260-1 Shaft 1
5020 HW1404049-1 Cover 1
1
screw
5023 HW1481728-A Bearing 1
5024 6809DDU Bearing 1
5025 HW1404059-6 Spring 1
5026 HW1303248-1 Gear 1
5027 6804 Bearing 1
5028 M3×28 GT-SA bolt 18
1
screw
5031 HW1404039-A Pulley 1
5032 HW1303249-1 Gear 1
5033 HW1404048-1 B cover (holder) 1
5034 HW1404054-1 Shaft 1
5035 TC50606 Oil seal 1
5036 AR28 Circlip 1
5037 WR15 Circlip 1
5038 NA4902 Needle bearing 1
11-10 HW1481305 100 of 103

167105-1CD
MH12 11 Parts List
11.5 Wrist Unit
Table 11-5: Wrist Unit (Sheet 2 of 2)

5039 HW1303250-1 Gear 1
5040 HW1371294-A Gear assy 1
5041 RA9008C0 Cross roller bearing 1
5042 TC1001105 Oil seal 1
5043 TC64746 Oil seal 1
5044 HW1303261-1 Flange 1
5045 HW1404055-1 Holder 1
5046 HW1303262-1 Flange 1
5047 HW1100619-1 Wrist 1
5048 HW1303259-1 Shaft 1
5049 M3×20 GT-SA bolt 12
5050 IRTW26 Retaining ring 1
5051 6803LLU Bearing 1
5052 HW1404037-A Pulley 1
5053 M3×16 GT-SA bolt 4
5054 HW1404047-1 Housing 1
5056 60S3M642 Belt 1
*1
5057 HW1303243-1 Cover 1
*2
HW1304179-1 Cover 1
5058 SGMAV-01ANA-YR1* Motor 2
5059 HW1404046-1*3 M base 1
*4
HW1406071-1 M base 1
5060 HW1404036-A Pulley 1
1
screw
5062 HW1404052-1*3 M base 1
*4
HW1406072-1 M base 1
5063 HW1100618-1 U-arm 1
5064 6902 Bearing 1
5065 HW1404516-1 Cover 2
5066 M4×8 GT-SA bolt 4
*1
5067 M4×12 GT-SA bolt 9
M4×10*2 GT-SA bolt 9
*1
5068 M4×12 GT-SA bolt 10
*2
M4×10 GT-SA bolt 10
*4
5069 HW1482873 Seat 2
4054 HW1200341-1 Spacer 1
*1 Use items shipped in or before October 2014
*2 Use items shipped in or after November 2014
*3 Use items shipped in or before December 2014
*4 Use items shipped in or after January 2015
11-11 HW1481305 101 of 103

167105-1CD
MH12 11 Parts List

11.6 Gear Unit (No. 5040)
11.6 Gear Unit (No. 5040)

Fig. 11-6: Gear Unit (No. 5040)
6004 6001
6002 6005
6003
6006
Table 11-6: Gear Unit (No. 5040)

6001 HW1304700-1 Gear 1
6002 HW1303252-1 Gear 1
6003 HW1405885-1 Collar 2
6004 HW1404050-1 Pin 6
6005 WB5-30 Coil spring 3
6006 M3×12 GT-SA bolt 2
11-12 HW1481305 102 of 103

MOTOMAN-MH12
INSTRUCTIONS
HEAD OFFICE
2-1 Kurosakishiroishi, Yahatanishi-ku, Kitakyushu 806-0004, Japan
Phone +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 GmbHRobotics Divsion )

Yaskawastrasse 1, 85391 Allershausen, Germany
Phone +49-8166-90-100 Fax +49-8166-90-103
YASKAWA Nordic AB
Verkstadsgatan 2, Box 504 ,SE-385 25 Torsas, Sweden
Phone +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, China
Phone +86-21-5385-2200 Fax 㸩86-21-5385-3299
YASKAWA SHOUGANG ROBOT Co. Ltd.
No7 Yongchang North Road, Beijing E&T Development AreaChina 100176
Phone +86-10-6788-2858 Fax +86-10-6788-2878
YASKAWA India Private Ltd. (Robotics Division)

#426, Udyog Vihar, Phase- IV,Gurgaon, Haryana, India
Phone +91-124-475-8500 Fax +91-124-475-8542
YASKAWA Electric Korea Corporation

35F, Three IFC, 10 Gukjegeumyung-ro, Yeongdeungpo-gu, Seoul, Korea 07326
Phone +82-2-784-7844 Fax +82-2-784-8495
YASKAWA Electric Taiwan Corporation

12F, No.207, Sec. 3, Beishin Rd., Shindian District, New Taipei City 23143, Taiwan
Phone +886-2-8913-1333 Fax +886-2-8913-1513
YASKAWA Electric (Singapore) PTE Ltd.

151 Lorong Chuan, #04-02A, New Tech Park, Singapore 556741
Phone +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, THAILAND
Phone +66-2-017-0099 Fax +66-2-017-0199
PT. YASKAWA Electric Indonesia

Secure Building-Gedung B Lantai Dasar & Lantai 1 JI. Raya Protokol Halim Perdanakusuma,
Jakarta 13610, Indonesia
Phone +62-21-2982-6470 Fax +62-21-2982-6741
Specifications are subject to change without notice

for ongoing product modifications and improvements.
MANUAL NO.
HW1481305 7 103 of 103

Instructivo de Motoman Brazo Robotico YASKAHUA

Uploaded by

Document Information

Original Title

Copyright

Available Formats

Share this document

Share or Embed Document

Sharing Options

Did you find this document useful?

Is this content inappropriate?

Copyright:

Available Formats

Instructivo de Motoman Brazo Robotico YASKAHUA

Uploaded by

Copyright:

Available Formats

MOTOMAN-MH12

Part Number: 167105-1CD

Copyright © 2017, 2016, 2015, 2013 YASKAWA America, Inc.

Terms of Use and Copyright Notice

Printed in the United States of America

First Printing, 2013

YASKAWA America, Inc.

iii HW1481305 3 of 103

Notes for Safe Operation

Indicates an imminent hazardous

Indicates a potentially hazardous

Indicates a potentially hazardous

Always be sure to follow explicitly

PROHIBITED Must never be performed.

Even items described as “CAUTION” may result in a serious accident in

To ensure safe and efficient operation at all times, be sure

MH12 Notes for Safe Operation

• Observe the following precautions when performing teaching

• In the case of not using the programming pendant, be sure to

• Upon shipment of the FS100, this signal is connected by a jumper

• Observe the following precautions when performing teaching

vii HW1481305 7 of 103

MH12 Notes for Safe Operation

viii HW1481305 8 of 103

Definition of Terms Used Often in This Manual (DX200)

Definition of Terms Used Often in This Manual (FS100)

Description of the Operation Procedure

MH12 Explanation of Warning Labels

Explanation of Warning Labels

Note: Taking the maintenance-relevant trainings offered by YASKAWA is

WARNING Label B WARNING Label A

Nameplate: WARNING Label A:

YASKAWA ELECTRIC CORPORATION WARNING Label B:

Mechanical Safety Devices

MH12 Programming, Operation, and Maintenance Safety

Programming, Operation, and Maintenance Safety

xii HW1481305 12 of 103

Summary of Warning Information

xiii HW1481305 13 of 103

MH12 Customer Support Information

Customer Support Information

When using e-mail to contact YASKAWA Customer Support, please

Please use e-mail for routine inquiries only. If you have an

• Primary Application ___________________________

• Software Version Access this information on the

• Robot Serial Number Located on the robot data plate

• Robot Sales Order Number Located on the DX200/DX100

xiv HW1481305 14 of 103

1 Product Confirmation ...................................................................................................................... 1-1

1.1 Contents Confirmation ....................................................................................................... 1-1

1.2 Order Number Confirmation .............................................................................................. 1-2

2.1 Transport Method .............................................................................................................. 2-1

2.1.1 Using a Crane ...................................................................................................... 2-2

2.1.2 Using a Forklift...................................................................................................... 2-2

2.2 Shipping Bolts and Brackets.............................................................................................. 2-3

2.3 Cushioning Material for Transport ..................................................................................... 2-4

3.1 Safeguarding Installation ................................................................................................... 3-2

3.2 Mounting Procedures for Manipulator Base ...................................................................... 3-2

3.2.1 Mounting Example................................................................................................ 3-4

3.3 Mounting method ............................................................................................................... 3-5

3.3.1 S-Axis Operating Range....................................................................................... 3-5

3.3.2 Fixing the Manipulator Base ................................................................................. 3-5

3.3.3 Precautions to Prevent the Manipulator from Falling............................................ 3-5