MH24 Manipulator取説

MOTOMAN-MH24
INSTRUCTIONS
TYPE: YR-MH00024-A00 (STANDARD SPECIFICATION)
TYPE:
Upon receipt of the product and prior to initial operation, read these instructions thoroughly, and retain
for future reference.
MOTOMAN INSTRUCTIONS
MOTOMAN-MH24 INSTRUCTIONS
DX200 INSTRUCTIONS
DX200 OPERATORS MANUAL (for each purpose)
DX200 MAINTENANCE MANUAL (Volume 1) (Volume2)
The DX200 operators manual above corresponds to specific usage. Be sure to use the appropriate manual.
The DX200 maintenance manual above consists of Volume1 and Volume2.
YASKAWA ELECTRIC CORPORATION
MANUAL NO.
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MANDATORY
This instruction manual is intended to explain mainly on the

mechanical part of the MOTOMAN-MH24 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 Instructions. To ensure correct and safe operation, carefully
read the DX200 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.
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Notes for Safe Operation

Read this manual carefully before installation, operation, maintenance, or
inspection of the MOTOMAN-MH24.
In this manual, the Notes for Safe Operation are classified as DANGER,
WARNING, CAUTION, MANDATORY, or PROHIBITED.
Indicates an imminent hazardous

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

result in death or serious injury to
personnel.
WARNING
Indicates a potentially hazardous

result in minor or moderate injury to
personnel and damage to equipment.
It may also be used to alert against
unsafe practices.
CAUTION
MANDATORY
PROHIBITED
Always be sure to follow explicitly the

items listed under this heading.
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.
NOTE
To ensure safe and efficient operation at all times, be sure

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.
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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
manipulators 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.
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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 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 Instructions before operating the manipulator:
Definition of Terms Used Often in This Manual

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

controller
Manipulator cable
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.
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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 B
WARNING Label A
WARNING Label A
WARNING Label A
Nameplate
Nameplate:
WARNING Label A:
WARNING
Moving parts
may cause
injury
WARNING Label B:
WARNING
Do not enter
robot
work area.
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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 ...................................................................................................... 2-1
2.1.2 Using a Forklift...................................................................................................... 2-2
2.2 Shipping Bolts and Brackets.............................................................................................. 2-2
2.3 Cushioning Material for Transport ..................................................................................... 2-3
3 Installation....................................................................................................................................... 3-1
3.1 Safeguarding Installation ................................................................................................... 3-2
3.2 Mounting Procedures for Manipulator Base ...................................................................... 3-2
3.2.1 Mounting Example................................................................................................ 3-3
3.3 Types of Mounting ............................................................................................................. 3-4
3.3.1 S-Axis Operating Range....................................................................................... 3-4
3.3.2 Fixing the Manipulator Base ................................................................................. 3-4
3.3.3 Precautions to Prevent the Manipulator from Falling............................................ 3-4
3.4 Location ............................................................................................................................. 3-5
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 ..................................................................................... 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
5.5 Stopping Angle and Time at the Emergency Stop............................................................. 5-4
5.5.1 Stop Category 0: Emergency Stop ....................................................................... 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
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Contents
5.5.2 Stop Category 1: Emergency Stop ....................................................................... 5-7
5.6 Alterable Operating Range ................................................................................................ 5-8
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 Internal Connections .......................................................................................................... 8-2
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 Grease Replenishment/Exchange ..................................................................................... 9-6
9.3.1 Notes on Grease Replenishment/Exchange Procedures ..................................... 9-6
9.3.2 Grease Replenishment/Exchange for S-Axis Speed Reducer ............................. 9-7
9.3.2.1 Grease Replenishment............................................................................ 9-7
9.3.2.2 Grease Exchange.................................................................................... 9-8
9.3.3 Grease Replenishment/Exchange for L-Axis Speed Reducer.............................. 9-9
9.3.3.1 Grease Exchange.................................................................................... 9-9
9.3.3.2 Grease Exchange.................................................................................. 9-10
9.3.4 Grease Replenishment/Exchange for U-Axis Speed Reducer ........................... 9-11
9.3.4.1 Grease Replenishment.......................................................................... 9-11
9.3.4.2 Grease Exchange.................................................................................. 9-12
9.3.5 Grease Replenishment for R-Axis Speed Reducer ............................................ 9-13
9.3.6 Grease Replenishment for B-Axis Speed Reducer ............................................ 9-14
9.3.7 Grease Replenishment for T-Axis Gear.............................................................. 9-15
9.3.8 Grease Replenishment for R-Axis Gear ............................................................. 9-17
9.4 Notes for Maintenance..................................................................................................... 9-18
9.4.1 Wrist Unit ............................................................................................................ 9-18
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9.4.2 Battery Pack Connection .................................................................................... 9-18
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..................................................................................................................... 11-7
11.5 Wrist Unit ..................................................................................................................... 11-10
11.6 Gear Unit (No.5040) .................................................................................................... 11-13
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1.1
Product Confirmation
Contents Confirmation
CAUTION
Confirm that the manipulator and the DX200 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
Programming pendant
Manipulator cables (between the DX200 and the Manipulator)
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1.2
1.2
Order Number Confirmation
Order Number Confirmation

Check that the order number of the manipulator corresponds to the
DX200. 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.
ORDER NO.
(a) DX200 (Front View)
Check that the manipulator

and the DX200 have the
same order number.
(b) Manipulator (Side View)
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2.1
Transport
Transport Method
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.
2.1
Transport Method
The weight of the manipulator is approximately 275 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.
2.1.1
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
A
Hexagon socket head cap screw M12X30 (2 screws)

Conical spring washer 2H-12 (2 washers)
Plain washer M12 (2 washers)
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2.2
2.1.2
Transport
Shipping Bolts and Brackets
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
Bolt M16 (4 places)

Pallet
$%
$%
$%
Forklift claw entries
2.2
Shipping Bolts and Brackets

The manipulator is provided with two shipping bolts and a shipping
bracket. (See fig. 2-3 Shipping Bolts and Brackets .)
Fig. 2-3: Shipping Bolts and Brackets
Hexagon socket head cap screw M12X30 (2 screws)

Conical spring washer 2H-12 (2 washers)
Plain washer M12 (2 washers)
Front View
Side View
The shipping bolts and bracket are painted yellow.

The shipping bracket is to be fixed with the hexagon socket head cap
screw M12(length: 30mm) (2 screws).
NOTE
Before turning ON the power, check to be sure that the 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.
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2.3
2.3
Transport
Cushioning Material for Transport
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 rubber cushion is respectively wedged at the sections A and B.
NOTE
Before turning ON the power, check to be sure that the

cushioning materials for transport are removed.
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.
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Installation
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 cushioning

materials for transport explained in chapter 2.2 Shipping Bolts and
Brackets and chapter 2.3 Cushioning Material for Transport are
removed.
Failure to observe this caution may result in damage to the driving

parts.
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3.1
3.1
Installation
Safeguarding Installation
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 baseplate or foundation
strong enough to support the manipulator and withstand repulsion forces
during acceleration and deceleration.
Construct a solid foundation with the appropriate thickness to withstand
maximum repulsion forces of the manipulator referring to table 3-1
Manipulator Repulsion Force and Torque .
A baseplate 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
chapter 3.2.1 Mounting Example .
Table 3-1: Manipulator Repulsion Force and Torque

Horizontal rotation
Vertical rotation
Repulsion force FH Torque MH
Repulsion force FH Torque MV
Emergency stop
8820 N
(900 kgf)
6370 Nm
(650 kgfm)
10290 N
(1050 kgf)
13720 Nm
(1400 kgfm)
Acceleration/
deceleration
2940 Nm
(300 kgf)
1915 Nm
(195 kgfm)
3430 Nm
(350 kgf)
5145 Nm
(525 kgfm)
Fig. 3-1: Manipulator Repulsion Force and Torque

MV
FV
MH
FH
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3.2
Mounting Example
For the first process, anchor the baseplate firmly to the ground. The
baseplate should be rugged and durable to prevent shifting of the
manipulator or the mounting fixture. It is recommend to prepare a
baseplate 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 baseplate with four hexagon head bolts M16
(50 mm long is recommended).
Next, fix the manipulator base to the baseplate. 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 Baseplate .
Fig. 3-2: Mounting the Manipulator on Baseplate
Hexagon head screw M16 (4 screws)

Spring washer
25
Washer
Manipulator base
Baseplate
40 mm
or more
Manipulator base
Anchor bolt (M16 or larger)
Baseplate
375
335
316
12 dia. H7
(2 hole)
C5
60
375
Baseplate
60
335
18 dia. (4 holes)
292
3.2.1
Installation
Mounting Procedures for Manipulator Base
View A
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3.3
3.3
Installation
Types of Mounting
Types of Mounting
The MOTOMAN-MH24 is available in three types: floor-mounted type
(standard), wall-mounted type, and ceiling-mounted type. For wallmounted and ceiling-mounted types, the three points listed below are
different from the floor-mounted type.
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 type, 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 types, 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 Nm when tightening the
screws.
3.3.3
Precautions to Prevent the Manipulator from Falling

For the wall- or ceiling-mounted types, 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)
NOTE
In case of using the wall/ceiling-mounted type, inform

Yaskawa of the matter when placing an order. Be sure to
contact your Yaskawa representative (listed on the back
cover of this instruction manual) to perform a wall/ceiling
installation on site.
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3.4
3.4
Installation
Location
Location
When installing a manipulator, it is necessary to satisfy the following
environmental conditions:
Ambient temperature: 0 to + 45C
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
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Wiring
Wiring
WARNING
Ground resistance must be 100 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.
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4.1
4.1
Wiring
Grounding
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.
NOTE
Never use this wire sharing with other ground lines or

grounding electrodes for other electric power, motor
power, welding devices, etc.
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
Section A
Bolt M8 (For grounding)

Delivered with the manipulator
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4.2
4.2
Wiring
Cable Connection
Cable Connection
Two manipulator cables are delivered with the manipulator; an encoder
cable (1BC) and a power cable (2BC). (Refer to fig. 4-2 Manipulator
Cables .)
Connect these cables to the manipulator base connectors and to the
DX200. Refer to fig. 4-3(a) Manipulator Cable Connectors (Manipulator
Side) and fig. 4-3(b) Manipulator Cable Connection (DX200 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.
Connection to the DX200
Before connecting two cables to the DX200, verify the numbers on both
manipulator cables and the connectors on the DX200. When connecting,
insert the cables in the order of X21, then X11, and depress each lever low
until it clicks.
Fig. 4-2: Manipulator Cables
The DX200 Side
The Manipulator Side
X11
1BC
X11
1BC
1BC
Encoder Cable
The DX200 Side
The Manipulator Side
2BC
X21
4.2.2
2BC
X21
2BC
Power Cable
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4.2
Wiring
Cable Connection
Fig. 4-3(a): Manipulator Cable Connectors (Manipulator Side)
Connector Details
(Manipulator Side)
Fig. 4-3(b): Manipulator Cable Connection (DX200 Side)
X11
X21
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5.1
Basic Specifications
5.1
Table 5-1: Basic Specifications1)

Item
Model
MOTOMAN-MH24
Structure
Vertically Articulated
Degree of Freedom
Payload
24 kg
Repeatability2)
0.06 mm
Range of Motion
Maximum Speed
Allowable Moment
3)
S-Axis (turning)
-180 - +180
L-Axis (lower arm)
-105 - +155
U-Axis (upper arm)
-170 - +240
R-Axis (wrist roll)
-200 - +200
B-Axis (wrist pitch/yaw)
-150 - +150
T-Axis (wrist twist)
-455 - +455
S-Axis
3.44 rad/s, 197/s
L-Axis
3.32 rad/s, 190/s
U-Axis
3.67 rad/s, 210/s
R-Axis
7.16 rad/s, 410/s
B-Axis
7.16 rad/s, 410/s
T-Axis
10.82 rad/s, 620/s
R-Axis
50 Nm (5.1 kgfm)
B-Axis
50 Nm (5.1 kgfm)
T-Axis
30.4 Nm (3.1 kgfm)
Allowable Inertia (GD2/4) R-Axis
2.1 kgm2
B-Axis
2.1 kgm2
T-Axis
1.1 kgm2
Temperature
0C to 45C
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)
Approx. mass
Ambient Conditions
Power Requirements
4)
Noise
1
2
3
4
268 kg
2.0 kVA
Less than 77 dB
SI units are used in this table. However, gravitational unit is used in ( ).

Conformed to ISO9283
Refer to table chapter 6.1 Allowable Wrist Load for details on the permissible moment of inertia.
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.
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5.2
5.2
Part Names and Working Axes
Part Names and Working Axes

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

Fig. 5-2: Manipulator Base Dimensions
375
335
316
60
375
Baseplate
335
60
292
25
18 dia. (4 holes)
5.3
12 dia. H7
(2 hole)
C5
View A
Units: mm
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5.4
5.4
Dimensions and P-Point Maximum Envelope
Dimensions and P-Point Maximum Envelope

Fig. 5-3: Dimensions and P-Point Maximum Envelope
R173
R4
06
P-point maximum
envelope
2085
795
100
96
200
120
150
P-point
760
139
505
3088
761
326
0
495
519
1730
406
277
807
694
1024
1429
1003
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5.5
5.5
Stopping Angle and Time at the Emergency Stop

Following data on stopping angle and time at the emergency stop are
measured under the standard of ISO10218.
Position 100%
Fig. 5-4: Category 0, Position 100% : Stopping Angle and Time for each
Axis at the Emergency Stop
(a)S-Axis
Stop position of S-axis category0 100%

0.5
35
30
0.4
Stopping time[sec]
Stopping angle[deg]
25
0.3
20
15
0.2
10
0.1
5
0
0
50
100
150
Speed[deg/s]
Load66%
Load100%
200
250
Load33%
50
100
150
Speed[deg/s]
Load66%
Load100%
200
250
Load33%
(b)L-Axis
Stop position of L-axis category0 100%

0.5
35
30
0.4
25
Stopping time[sec]
Stopping angle[deg]
20
15
10
0.3
0.2
0.1
5
0
0
0
50
Load100%
100
150
Speed[deg/s]
Load66%
200
250
50
Load100%
Load33%
100
150
Speed[deg/s]
Load66%
200
Load33%
(c)U-Axis
Stop position of U-axis category0 100%
35
0.5
30
0.4
25
Stopping time[sec]
5.5.1.1
Stop Category 0: Emergency Stop
Stopping angle[deg]
5.5.1
20
15
10
0.3
0.2
0.1
5
0
0
0
50
Load100%
100
150
Speed[deg/s]
Load66%
200
Load33%
250
50
Load100%
100
150
Speed[deg/s]
Load66%
200
250
Load33%
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5.5
Position 66%
(a)S-Axis
35
0.5
30
0.4
Stopping time[sec]
Stopping angle[deg]
25
20
15
10
0.3
0.2
0.1
5
0
0
0
50
Load100%
100
150
Speed[deg/s]
Load66%
200
250
Load33%
50
Load100%
100
150
Speed[deg/s]
Load66%
200
250
Load33%
(b)L-Axis

0.5
35
30
0.4
Stopping time[sec]
Stopping angle[deg]
25
20
15
10
0.3
0.2
0.1
5
0
0
0
50
Load100%
100
150
Speed[deg/s]
Load66%
200
250
Load33%
50
Load100%
100
150
Speed[deg/s]
Load66%
200
250
Load33%
(c)U-Axis
0.5
35
30
0.4
Stopping time[sec]
25
Stopping angle[deg]
5.5.1.2
20
15
10
0.3
0.2
0.1
5
0
0
0
50
Load100%
100
150
Speed[deg/s]
Load66%
200
Load33%
250
50
Load100%
100
150
Speed[deg/s]
Load66%
200
250
Load33%
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5.5
Position 33%
(a)S-Axis
0.5
35
30
0.4
Stopping time[sec]
Stopping angle[deg]
25
20
15
10
0.3
0.2
0.1
5
0
0
0
50
Load100%
100
150
Speed[deg/s]
Load66%
200
250
Load33%
50
Load100%
100
150
Speed[deg/s]
Load66%
200
250
Load33%
(b)L-Axis
35
0.5
30
0.4
Stopping time[sec]
Stopping angle[deg]
25
20
15
10
0.3
0.2
0.1
5
0
0
0
50
Load100%
100
150
Speed[deg/s]
Load66%
200
250
Load33%
50
Load100%
100
150
Speed[deg/s]
Load66%
200
250
Load33%
(c)U-Axis

0.5
35
30
0.4
Stopping time[sec]
25
Stopping angle[deg]
5.5.1.3
20
15
10
0.3
0.2
0.1
5
0
0
0
50
Load100%
100
150
Speed[deg/s]
Load66%
200
Load33%
250
50
Load100%
100
150
Speed[deg/s]
Load66%
200
250
Load33%
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5.5
Stop Category 1: Emergency Stop

The stopping angle and time at the emergency stop in category 1 are not
subjected to the manipulator position and the load.
Stop of category1 doesn't depend on the robot position and the load.
Fig. 5-7: Category 1: Stopping Angle and Time for each Axis at the
Emergency Stop
(a)S-Axis
Stop position of S-axis category1
Stop position of S-axis category1
70
0.8
0.7
60
0.6
Stopping time[sec]
Stopping angle[deg]
50
40
30
20
10
0.5
0.4
0.3
0.2
0.1
0
0
50
100
150
Speed[deg/s]
200
250
50
100
150
Speed[deg/s]
200
250
(b)L-Axis
Stop position of L-axis category1
70
0.8
60
0.7
Stopping time[sec]
Stopping angle[deg]
Stop position of L-axis category1
0.6
50
40
30
20
10
0.5
0.4
0.3
0.2
0.1
0
0
0
50
100
150
Speed[deg/s]
200
250
50
100
150
Speed[deg/s]
200
250
(c)U-Axis
Stop position of U-axis category1
70
Stop position of U-axis category1
0.8
0.7
60
0.6
Stopping time[sec]
50
Stopping angle[deg]
5.5.2
40
30
20
10
0.5
0.4
0.3
0.2
0.1
0
0
50
100
150
Speed[deg/s]
200
250
50
100
150
Speed[deg/s]
200
250
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5.6
5.6
Alterable Operating Range
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
Range
-180 - +180 (standard)

-150 - +150
-120 - +120
-90 - +90
-60 - +60
-30 - +30
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6.1
Allowable Load for Wrist Axis and Wrist Flange

Allowable Wrist Load
The allowable wrist load is 24 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
Moment Nm (kgfm)1)
GD2/4 Total Moment of Inertia

kgm2
R-Axis
50 (5.1)
2.1
B-Axis
50 (5.1)
2.1
T-Axis
30.4 (3.1)
1.1
1 ( ): Gravitational unit
When the volume load is small, refer to the moment arm rating shown in
fig. 6-1 Moment Arm Rating .
The allowable total moment of inertia is calculated when the moment is at
the maximum. Contact your Yaskawa representative beforehand when
only moment of inertia, or load moment is small and moment of inertia is
large. Also, when the load mass is combined with an outside force,
contact your Yaskawa representative beforehand.
Fig. 6-1: Moment Arm Rating
LB
Load gravity position
100
LT
6.1
R-, T-axis
rotation center
B-axis rotation center
500
428
400
LT[mm]

Allowable Wrist Load
W=6kg
309
300
W=10kg
200
193
W=16kg
154
129 W=20kg
W=24kg
100
213 255
100
200
319
300
458
400
500
592
600
LB[mm]
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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)
56
Attachments should be
mounted within this
range.
Dia.100
62 dia. h6
(Depth: 5)
Dia.100
62 dia. h6
4 dia. H7
(Depth: 6)
Dia. 50
6.2

Wrist Flange
5
4
NOTE
Wash off anti-corrosive paint (yellow) on the wrist flange

surface with thinner or light oil before mounting the tools.
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7.1
System Application
Peripheral Equipment Mounts
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 userss 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 36 kg, including the wrist
load.
For instance, when the mass installed on the wrist point is 24 kg, the mass
which can be installed on the upper arm is 12 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 kgm2 or less.
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 M6 (2 holes)

(Depth: 12) (Pitch: 1.0)
260
15
48
15
130

View B
28.5
50 Mount the peripheral
equipment within this range
300
60
B
Mount the peripheral
equipment so that the
center of gravity of
the peripheral equipment
on the U-arm should be
within this range

630
70
13
45
92


130
229
100
26
168
30
7.1.2

15
45

View A
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7.2
7.2
System Application
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.
The following optionals can be incorporated in the manipulator.
A. Cables for the primary power source for arc welding and an air line
B. An air line
The allowable current for internal user

I/O wiring harness
3 A or less for each wire

(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 and 6.5 mm (With optional A and B))
The allowable current for arc welding
power cable (With optional A)
Rated current of 500A or less and the rated operational ratio should be
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 (500A/operating current )2
Fig. 7-2: Connectors for Internal User I/O Wiring Harness and Air Line
Exhaust port: B
PT3/8
with a pipe plug
Exhaust port: A
PT3/8
with a pipe plug
With optional A and B
Connector for the internal user I/O wiring harness:

JL05-2A20-29SC (socket connector with a cap)
Prepare pin connector: JL05-6A20-29P
Power cable terminal block for arc welding
TS200CHM (with a cover)
A
Air Inlet A
PT3/8
with a pipe plug
Air Inlet B
PT3/8
with a pipe plug
Power cable terminal block for arc welding
Recomennded crimpted terminal: R100-10
Cover (TS200CHM) is packed.
With optional A
Air Inlet B
PT3/8
with a pipe plug
Connector for the internal user I/O

wiring harness: JL05-2A20-29PC (with a cap)
Prepare connector JL05-6A20-29
View A
Standard specification
With optional B
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7.2
System Application
Fig. 7-3: Details of the Connector Pin Numbers

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

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

on the U-arm
Pins used
1
2
3
4
5
6
7 (+24V: for shock sensor)
8 (Shock sensor signal input)
9
10
11(0.75mm2 )
12(0.75mm2 )
13(1.25mm2 )
14(1.25mm2 )
15(1.25mm2 )
16(1.25mm2 )
1
2
3
5
11
12
14
13
15
10
16
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 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. 8-3(a) Internal Connection Diagram
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.
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8.1
Electrical Equipment Specification

Position of Limit Switch

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)
L-axis overrun
S-axis overrun
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8.2
8.2

Internal Connections
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. 8-2
Locations and Numbers of Connectors .
Diagrams for Internal connections of the manipulator are shown in
fig. 8-3(a) Internal Connection Diagram and fig. 8-3(b) Internal
Connection Diagram .
Fig. 8-2: 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 wiring

harness on the connector base
JL05-2A20-29PC
(JL05-6A20-29S: Optional)
Connector for the internal user I/O wiring

harness on the U-arm
JL05-2A20-29SC
(JL05-6A20-29P: Optional)
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8.2 Internal Connections
Fig. 8-3(a): Internal Connection Diagram
Power Cable
Internal Cable
Note
0BT
K R P BAT
0BT
K R P BAT
0BT
K RP BAT
0BT
K RP BAT
1
2
3
4
5
6
7
8
0BAT11
BAT11
0BAT12
BAT12
0BAT21
BAT21
0BAT22
BAT22
1
2
3
4
5
6
7
8
1BC(10X4)
Controller
P
CN1-5
CN1-4
+24V
0V
1
3
CN1-10
CN1-9
CN1-10
CN1-9
+24V
0V
2
4
CN1-1
CN1-2
CN1-1
CN1-2
SPG+1
SPG-1
CN1-5
CN1-4
CN1-3
CN1-6
CN1-7
CN2-1
CN2-2
1.For the limit switch specification, the connection of the section A B is changed as follows:
2. Section C applies only if the cables for primary source for welding power.
0BAT1
BAT1
0BAT2
BAT2
0BAT3
BAT3
LC1
LD1 LD1
CN1-6
CN1-7
CN1-8
LA1
LB1 LB1
PG0V1
PG5V1
PG0V2
PG5V2
PG0V3
PG5V3
PG0V4
PG5V4
PG0V5
PG5V5
PG0V6
PG5V6
LB1
CN2-1
CN2-2
SPG+3
SPG-3
CN2-3
FG3
CN2-6
CN2-7
SPG+4
SPG-4
LA2
LB2
P
LD1
P
P
P
No.23CN
23CN-1
-2
-6
-5
-4
-9
-7
No.16CN
16CN-1
-2
-6
-5
-4
-9
-10
1BC(10X4)
CN2-6
CN2-7
CN2-8
CN2-10
CN2-10
+24V
CN3-1
CN3-2
SPG+5
SPG-5
FG6
-5
-11
-6
+5V
0V
FG6
CN4-3
CN4-8
BC2
AL2
CN4-10
CN4-10
0V
CN3-4
CN3-5
0V
+5V
CN3-9
CN3-10
P
P
CN3-9 0V
CN3-10 +5V
+24V
CN4-4
LD1
CN4-5
CN4-9 FG8
LA1 LB1
LC1 LD1
LB2
LB2
LB1
LD2
LD2
LD1
S-AXIS
PG
DATA+2
DATA-2
BAT
OBT
+5V
0V
FG2
LA1
LB1
LC2
LD2
LA1
LB1
LB1
LB2
LB2
LB1
LA2
LB2
S-AXIS OVERRUN L.S. Connected to B1

LC3
LD3
S-AXIS OVERRUN L.S. Connected to A1
LA3
LB3
S-axis with Limit Switch Specification
L-AXIS
PG
DATA+4
DATA-4
BAT
OBT
+5V
0V
FG4
OBT
BAT
PG R-AXIS
No.1CN
1CN-1
-2
-3
-4
2CN-1
-2
-3
No.2CN
P
P
P
No.3CN
3CN-1
-2
-3
-4
4CN-1
-2
-3
No.4CN
A1
DATA+1
DATA-1
BAT
OBT
+5V
0V
FG1
LC1
LD1
LD1
LD2
LD2
LD1
U-AXIS
CN3-8
CN3-4
CN3-5
Connected to A3
PG
CN3-6
CN3-7
CN4-4
CN4-5
CN4-9
DATA+3
DATA-3
BAT
OBT
+5V
0V
FG3
DATA+6
DATA-6
CN3-6
CN3-7
-4
-10
CN2-9
CN4-3
CN4-8
SPG+7
SPG-7
CN2-9
FG5
No.19CN
19CN-1
-2
-6
-5
-4
-9
-10
FG7
SPG+6
SPG-6
CN3-3
CN2-4
CN2-5
CN3-8
DATA+2
DATA-2
BAT
OBT
+5V
0V
FG2
CN3-3
P
P
No.18CN
18CN-1
-2
-6
-5
-4
-9
-10
No.13CN
-1
DATA+5
-7
DATA-5
-2
BAT
-8
OBT
+5V
-3
0V
-9
CN2-4
CN2-5
DATA+1
DATA-1
BAT
OBT
+5V
0V
FG1
No.9CN
9CN-1
-2
-3
-4
10CN-1
-2
-3
No.10CN
P
CN3-1
CN3-2
Connected to A1
L AND U-AXIS INTERFERENCE L.S.
LC1
LD1
FG4
B3
L-AXIS OVERRUN L.S. Connected to A2

LA3
LB3
CN2-8
B1
Connected to B2
L AND U-AXIS INTERFERENCE L.S. Connected to
S-AXIS OVERRUN L.S.

LA2
LB2
B2
No.22CN
22CN-1
-2
-6
-5
-4
-9
-7
P
CN2-3
Connected to
L-AXIS OVERRUN L.S.
SLU-axes with Limit Switch Specification
P
P
P
LA1
LB1
LB1
A2
LC2
LD2
FG2
S-AXIS OVERRUN L.S.

LC2
LD2
LC3
LD3
SPG+2
SPG-2
CN4-1 +24V
CN4-6 LB1
CN4-2 SS2
CN4-7 AL1
LC1
LD1
LD1
0BAT4
BAT4
CN1-3 FG1
CN1-8
CN4-1
CN4-6
CN4-2
CN4-7
17
18
19
20
21
22
23
24
25
26
27
28
29
30
31
32
1
2
3
4
5
6
7
8
9
10
11
12
13
14
15
16
DATA+5
DATA-5
BAT
OBT
+5V
0V
FG5
OBT
BAT
DATA+6
DATA-6
BAT
OBT
+5V
0V
FG6
OBT
BAT
PG B-AXIS
PG T-AXIS
FOR LAMP(OPTION)
LA3
LB3
A3
LC3
LD3
B3
B1
E
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8 Electrical Equipment Specification

8.2 Internal Connections
Fig. 8-3(b): Internal Connection Diagram
E
3BC(20-29)
E
3BC-1 1
-2 2
-3 3
-4 4
-5 5
-6 6
-7 7
-8 8
-9 9
-10 10
-11 11
-12 12
-13 13
-14 14
-15 15
-16 16
Casing
Base
E
7
8
1
1
2 P
2
3 3
4 4 P
5 5
6 6 P
SS1 SS1
SS2 SS2P
1
2
3
4
SS1
SS2
1
2
3
4
SS1
SS2
3BC(20-29)
E
1
3BC-1
2
-2
3
-3
4
-4
-5
5
-6
6
-7
7
8
-8
-9
9
-10
10
-11
11
-12
12
-13
13
-14
14
-15
15
-16
16
For Spare Cable
2BC(6X6)
E
E
CN1-1
CN1-2
CN1-3
CN1-4
CN1-5
CN1-6
CN2-1
CN2-2
CN2-3
CN2-4
CN2-5
CN2-6
CN1-1
CN1-2
CN1-3
CN1-4
CN1-5
CN1-6
CN2-1
CN2-2
CN2-3
CN2-4
CN2-5
CN2-6
ME1
ME2
ME2
MU1
MV1
MW1
No.20CN
3CN-3 MU1
MV1
-2
MW1
-1
-PE ME1
BA1
-4
BB1
-5
SM
MU2
MV2
MW2
MU2
MV2
MW2
No.21CN
4CN1-A MU2
MV2
-B
MW2
-C
ME2
-D
BA2
-1
BB2
-2
SM
S-AXIS
YB
L-AXIS
YB
No.24CN
2BC(6X6)
CN3-1
CN3-2
CN3-3
CN3-4
CN3-5
CN3-6
CN3-1
CN3-2
CN3-3
CN3-4
CN3-5
CN3-6
MU3
MV3
MW3
MU4
MV4
MW4
CN4-1
CN4-2
CN4-3
CN4-4
CN4-5
CN4-6
CN4-1
CN4-2
CN4-3
CN4-4
CN4-5
CN4-6
MU5
MV5
MW5
MU6
MV6
MW6
CN5-1
CN5-2
CN5-3
CN5-4
CN5-5
CN5-6
CN6-1
CN6-2
CN6-3
CN6-4
CN6-5
CN6-6
PE
CN5-1
CN5-2
CN5-3
CN5-4
CN5-5
CN5-6
CN6-1
CN6-2
CN6-3
CN6-4
CN6-5
CN6-6
No.17CN
17CN-3 MU3
MV3
-2
MW3
-1
-PE ME3
BA3
-4
BB3
-5
SM
U-AXIS
YB
No.11CN
11CN-1 MU4
MV4
-2
MW4
-3
ME4
-4
BA4
-1
BB4
-2
No.14CN
14CN-1MU5
MV5
-2
MW5
-3
ME5
-4
ME3
ME4
ME5
ME6
BA1
BB1
No.12CN
No.6CN
-5
-6
-7
-8
BA2
BA3
BA4
BB4
BA5
BA6
MU6
MV6
MW6
ME6
15CN-1BA5
-2
BB5
-3
BA6
-4
BB6
No.15CN
No.8CN
SM
R-AXIS
YB
No.5CN
5CN-1
-2
-3
-4
-1
-2
MU5
MV5
MW5
ME5
BA5
BB5
No.7CN
MU6
7CN-1
MV6
-2
MW6
-3
ME6
-4
BA6
-1
BB6
-2
SM
B-AXIS
YB
SM
T-AXIS
YB
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9
9.1
Maintenance and Inspection

Inspection Schedule
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.
9.1
Inspection Schedule
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.
NOTE
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 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.
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13 S-axis speed reducer
12 Battery pack in manipulator
11 Protective tubing
(velcro type)
10 Wire harness in manipulator

(BT-axis wires)
7
8
Connector base
Timing belts for B- and
T-axes
Wire harness in manipulator
(SLU-axes wires)
(RBT-axes wires)
Cover mounting screws
Daily
1000HCycle
12000HCycle
6000HCycle
24000H
36000H
Grease Gun
Visual
Visual,
Multimeter
Visual,
Multimeter
Visual
Spanner
Wrench
Screwdriver,
Wrench
Manual
Manual
Visual
Visual
Visual
Replace4)
Check for holes or tears, and adhesion of spatters. Replace it if any.
Replace
Replace the battery pack when the battery alarm occurs or the manipulator
drove for 36000H.
Check for malfunction. (Replace if necessary.)
Supply grease5) (6000H cycle). See chapter 9.3.2 .
Replace grease(12000H cycle). See chapter 9.3.2 .
Check for conduction between the main connector of base and

intermediate connector with manually shaking the wires. Check for wear of
protective spring.3)
Replace4)
Check for conduction between terminals and wear of protective spring.3)
Check for loose connectors.

Check for belt tension and wear.
Tighten loose bolts. Replace if necessary.
Check alignment mark accordance and damage at the home position.

Check for damage and deterioration of leads.
Clean the work area if dust or spatter is present. Check for damage and
outside cracks.
Check for grease leakage.2)
Tighten loose bolts. Replace if necessary.
Operation
Inspection
Charge
9
9.1
4
5
Alignment mark
External lead
Working area and
manipulator
Motors for S-, L-, U-axes
Baseplate mounting bolts
1
2
3
Method
Specified
Personnel
Schedule
Licensee
Items1)
Service
Company
Table 9-1: Inspection Items (Sheet 1 of 2)
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Daily
36000H
24000H
Grease Gun
Grease Gun

Supply grease5) (6000H cycle).
See chapter 9.3.3 and chapter 9.3.4 .
Replace grease5) (12000H cycle).
See chapter 9.3.3 and chapter 9.3.4 .
Supply grease5) (6000H cycle). See chapter 9.3.7
Supply grease5) (6000H cycle). See chapter 9.3.8
Inspection
Charge
No.
12, 13
14,15
16
Grease Used
Molywhite RE No. 00
Harmonic Grease SK-1A
Alvania EP Grease 2
Inspected Parts
Speed reducers for S-, L- and U-axes
Speed reducers for R- and B-axes, R-axis gear
T-axis gear
Table 9-2: Inspection Parts and Grease Used
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.
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 chapter 9.4 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 .
19 Overhaul
18 R-axis gear
17 T-axis gear
Grease Gun
Grease Gun
Grease Gun
Operation
9
9.1
16 B-axis speed reducer
1000HCycle
15 R-axis speed reducer
6000HCycle
12000HCycle
14 Speed reducers for L- and

U-axes
Method
Specified
Personnel
Schedule
Licensee
Items1)
Service
Company
Table 9-1: Inspection Items (Sheet 2 of 2)
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12
11
4
18 15
13
14
14
16
17
9
9.1
11
Fig. 9-1: Inspection Items
The numbers in the above table correspond to the numbers in table 9-1 Inspection Items
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9.2
9.2
9.2.1

Notes on Maintenance Procedures
Notes on Maintenance Procedures
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, replace the battery in
accordance with the following procedure:
Fig. 9-2: Battery Location
Plate fixing screw
Support
Connector base
Battery pack
Fig. 9-3: Battery Connection

Battery pack
before replacement
See step 5 below

Connector
Board
(type: SGDR-EFBA02A)
See step 4 below

New battery pack
1. Turn OFF the DX200 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.
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9.3
9.3
9.3.1

Grease Replenishment/Exchange
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.
NOTE
Do not install a joint, a hose, etc. to the grease exhaust

port. Failure to observe this instruction may result in 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.
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9.3
9.3.2

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
9.3.2.1
S-axis speed reducer
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
If grease is injected with the plug on, the grease will leak
inside the motor and may cause a damage. Make sure to
remove the plug before the grease injection.
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:
Molywhite RE No. 00
Amount of grease:
350 g (700 g 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 Nm
(2.34 kgfm).
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 Nm (2.34
kgfm).
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9.3
9.3.2.2

Grease Exchange
(Refer to fig. 9-4 S-Axis Speed Reducer Diagram .)
and grease exhaust port.
NOTE

3. Inject the grease through the grease inlet using a grease gun.
Grease type:
Molywhite RE No. 00
Amount of grease:
approx. 1700 g
0.3 MPa or less
8 g/s or less
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 Nm
(2.34 kgfm).
plugs. Then tighten the plug with a tightening torque of 23 Nm (2.34
kgfm).
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9.3
9.3.3

Grease Replenishment/Exchange for L-Axis Speed Reducer

Fig. 9-5: L-Axis Speed Reducer Diagram
Grease exhaust port
L-arm
Grease inlet
Hexagon socket head tapered pipe plug
(NPTF type) NPTF3/8
9.3.3.1
Grease Exchange
(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

4. Inject grease through the grease inlet using a grease gun.
Grease type:
Molywhite RE No. 00
Amount of grease:
0.3 MPa or less
8 g/s or less
5. Move the L-axis for a few minutes to discharge excess grease.

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 Nm (2.34 kgfm).
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 Nm (2.34 kgfm).
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9.3

NOTE
9.3.3.2
When installing a plug to the grease inlet or the grease

exhaust port, please be careful not to install the wrong plug.
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.
Grease Exchange
(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

Grease type:
Molywhite RE No. 00
Amount of grease:
approx. 750 g
0.3 MPa or less
8 g/s or less
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.
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 Nm (2.34 kgfm).
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 torque of 23 Nm (2.34 kgfm).
NOTE

refer to fig. 9-5 L-Axis Speed Reducer Diagram . Should
plug may fall inside the L-axis driving part.
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9.3
9.3.4

Grease Replenishment/Exchange for U-Axis Speed Reducer

Fig. 9-6: U-Axis Speed Reducer Diagram
U-axis
speed reducer
Grease exhaust port

Hexagon socket head tapered pipe plug
(NPTF type)NPTF3/8
U-arm
Casing
Casing
Grease inlet
9.3.4.1
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.
NOTE

Grease type:
Molywhite RE No. 00
Amount of grease:
0.3 MPa or less
8 g/s or less
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 Nm (2.3 kgfm).
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 Nm
(2.34 kgfm).
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.
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9.3

NOTE
9.3.4.2

exhaust port, please be carefull not to install the wrong
plug. For the corresponding plugs and their installing positions, refer to fig. 9-6 U-Axis Speed Reducer Diagram .
Should wrong plug is installed, the tapped hole may damage or the plug may fall inside the U-axis driving part.
Grease Exchange
(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.
NOTE

Grease type:
Molywhite RE No. 00
Amount of grease:
approx. 400 g
0.3 MPa or less
8 g/s or less
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 Nm (2.34 kgfm).
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 Nm
(2.34 kgfm).
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.
NOTE

refer to fig. 9-6 U-Axis Speed Reducer Diagram . Should
plug may fall inside the U-axis driving part.
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9.3
9.3.5

Grease Replenishment for R-Axis Speed Reducer

Fig. 9-7: R-Axis Speed Reducer Diagram
R-axis speed reducer
Exhaust port
Grease inlet
and exhaust port.
(Refer to fig. 9-7 R-Axis Speed Reducer Diagram .)
Grease type:
Harmonic grease SK-1A
Amount of grease:
10 g (20 g for the first supply)
NOTE
The exhaust port is used for air exhaust, and the grease is
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 Nm
(0.49 kgfm).
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 Nm (0.49 kgfm).
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9.3
9.3.6

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 .)
Grease type:
Amount of grease:
5 g (10 g for the 1st supply)
NOTE
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 Nm (0.6 kgfm).
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 Nm (0.6 kgfm).
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9.3
9.3.7

Grease Replenishment for T-Axis Gear

Fig. 9-9: T-Axis Gear Diagram
T-axis Gear
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
Amount of grease:
10 g
NOTE
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.
7. Inject grease through the grease inlet 2 using a grease gun.
Grease type:
Alvania EP Grease 2
Amount of grease:
5g
NOTE
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9.3

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 Nm (0.6 kgfm).
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9.3
9.3.8

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.
NOTE

(Refer to fig. 9-10 R-Axis Gear Diagram .)
Grease type:
Amount of grease:
40 g
0.3 MPa or less
8 g/s or less
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 Nm
(0.5 kgfm).
plug. Then tighten the plug with a tightening torque of 4.9 Nm (0.5
kgfm).
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9.4
9.4
9.4.1

Notes for Maintenance
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 to table 10-1 Spare Parts for
the YR-MH00024-A00 .)
Fig. 9-11: Sealing Part of Wrist Unit
Cover
Cover jointing face
Cover jointing face

Cover
9.4.2
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 TAxes) .
Before removing the encoder connector (with CAUTION label), connect

the battery pack referring to the following figures.
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9.4

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

Motor
Motor power connector

Encoder connector
0BT
BAT
0BT*
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
in manipulator
Power connector
Connection
OBT
BAT
CAUTION
Connect battery to encoder

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

b: Crimped contact-pin (Pin)
Connect battery to encoder

to save the data before
removing connector.
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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-MH24. 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-MH00024-A00 (Sheet 1 of 2)

Rank Parts Name
No.
Type
Manufacturer
Qty
Qty
per
Unit
Grease
Molywhite RE No. 00
Yaskawa Electric
Corporation
16 kg
Grease
Harmonic Grease
SK-1A
Harmonic Drive Systems

Co., Ltd.
2.5 kg
Grease
Alvania EP Grease 2
Showa Shell Sekiyu K.K.
16 kg
Liquid Seal
Three Bond 1206C
Three Bond Co., Ltd.
Battery Pack
HW0470360-A
Yaskawa Electric
Corporation
Battery Pack
HW9470932-A
Yaskawa Electric
Corporation
Protective Tubing
(velcro type)
MTK-50FR
Yaskawa Electric
Corporation
1.5 m
(0.75 m
(2 tubes))
B-Axis Timing Belt 60S5M750
MITSUBOSHI BELTING
LTD.
T-Axis Timing Belt 150cepter-6S3M999
BANDO CHEMICAL
INDUSTRIES, LTD.
10
S-Axis Speed
Reducers Kit
Y005C-MH00024A00S
Yaskawa Electric
Corporation
11
L-Axis Speed
Reducers Kit
Y005C-MH00024A00L
Yaskawa Electric
Corporation
12
U-Axis Speed
Reducers Kit
Y005C-MH00024A00U
Yaskawa Electric
Corporation
13
R-Axis Speed
Reducers Kit
Y005C-MH00024A00R
Yaskawa Electric
Corporation
14
B-Axis Speed
Reducers Kit
Y005C-MH00024A00B
Yaskawa Electric
Corporation
15
T-Axis Gear Kit
Y005C-MH00024A00T
Yaskawa Electric
Corporation
16
R-Axis Unit Kit
Y005C-MH00024A00RU Yaskawa Electric

Corporation
Re
marks
10-1
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Recommended Spare Parts
Table 10-1: Spare Parts for the YR-MH00024-A00 (Sheet 2 of 2)

Rank Parts Name
No.
Type
Manufacturer
Qty
Qty
per
Unit
17
Wrist Unit Kit
Y005C-MH00024A0BT
Yaskawa Electric
Corporation
18
Internal Wire
Harness
HW1171741-A
Yaskawa Electric
Corporation
19
Internal Cable for

B- and T-Axes
HW1271106-A
Yaskawa Electric
Corporation
20
S-Axis
AC Servom
SGMRV-09ANA-YR1*
HW0388665-A
Yaskawa Electric
Corporation
21
L-Axis
AC Servom
SGMRV-13ANA-YR1*
HW0388666-A
Yaskawa Electric
Corporation
22
U-Axis
AC Servomotors
SGMRV-05ANA-YR1*
HW0388663-A
Yaskawa Electric
Corporation
23
R-, B- and T-Axis

AC Servomotors
SGMAV-02ANA-YR1*
HW0389295-A
Yaskawa Electric
Corporation
24
Board
SGDR-EFBA02A
Yaskawa Electric
Corporation
Re
marks
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Parts List
11.1 S-Axis Unit
11 Parts List
11.1
S-Axis Unit
Fig. 11-1: S-Axis Unit
1026
1027
1002
1014
1003
1004
1027
1044
1008
1030
1012
1011
1005
1006
1038
1039
1035
1037
1032
1007
1033
1036
1034
1001
1015
1021
1046
1045
1016
1024
1046
1022
1045
1029
1046
1010
1031
1019
1009
1020
1023
1028
1013
1025
1017
1018
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Parts List
11.1 S-Axis Unit
Table 11-1: S-Axis Unit

No.
1001
1002
1003
DWG No.
HW1100684-1
M8X30
M4X8
1004
1005
2H-4
M8X50
1006
1007
1008
1009
1010
1011
2H-8
HW1304342-1
HW0313491-2
HW0387753-B
M10X40
M6X60
1012
1013
1014
1015
2H-6
HW1100683-1
SGMRV-09ANA-YR1*
M12X45
1016
1017
1018
1019
1020
1021
1022
1023
1024
1025
1026
1027
1028
1029
1030
1031
1032
1033
1034
1035
1036
1037
1038
2H-12
TSH8-03
NB-0860
MSB8-15
HW0400645-3
TSH8-03
HW1304380-1
M6X15
M6X15
M5X10 (STAINLESS)
HW1304381-A
M6X15
EZ5036A0
HW1304382-1
HW1304379-1
PMF8-03
HW1405431-1
TA1-S10
M5X8 (STAINLESS)
T50R
M5X12
CD-31
M5X8
1039
1044
1045
1046
2H-5
C-30-SG-30A
KQ2L08-00
NB-0860
Name
S head
GT-SA bolt
screw
Conical spring washer
screw
M base
Gear
Speed reducer
GT-SA bolt
screw
Base
Motor
screw
Union
Tube
Stripper bolt
Lever
Union
Cover
GT-SA bolt
GT-SA bolt
Cross head APS bolt
Cover
GT-SA bolt
Cap
Cover
Cover
Union
Support
Clamp
Pan-head sems screw
Cable tie
GT-SA bolt
Saddle
screw
Glomet
Union
Tube
Pcs
1
3
4
4
3
3
1
1
1
16
1
1
1
1
8
8
1
1
1
1
1
1
7
2
6
1
11
1
1
1
1
1
1
1
1
2
1
2
2
1
2
3
11-2
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Parts List
11.2 L-Axis Unit
11.2
L-Axis Unit
Fig. 11-2: L-Axis Unit
2016
2024
2022
2025
2018
2023
2017
2013
2002
2020
2019
2015
2004
2003
2014
2012
2001
2011
2008
2007
2021 2006
2005
2010
2009
1001
11-3
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Parts List
11.2 L-Axis Unit
Table 11-2: L-Axis Unit

No.
DWG No.
Name
Pcs
2001
HW1100696-1
L arm
2002
HW1304336-1
Gear
2003
M6X90
Hexagon socket head cap 1

screw
2004
2H-6
2005
M12X40

screw
2006
2H-12
2007
M10X35

screw
12
2008
2H-10
2009
M12X35
GT-SA bolt
2010
HW1405429-1
Washer
2011
HW0387753-G
Speed reducer
2012
M10X40
GT-SA bolt
16
2013
HW0401506-1
Plate
2014
HW1304555-1
M base
2015
M8X30
GT-SA bolt
2016
SGMRV-13ANA-YR1*
Motor
2017
Y426012.5
Oil seal
2018
M8X25
GT-SA bolt
2019
PT1/8 (STAINLESS)
Hexagon socket head

plug
2020
PT3/8 (STAINLESS)
Hexagon socket head

plug
2021
NPTF3/8 (STAINLESS)
Hexagon socket head

tapered pipe plug (NPTF
type)
2022
HW1405456-1
Cover
2023
M6X15
GT-SA bolt
2024
HW1405226-1
Support
2025
M5X10
GT-SA bolt
1001
HW1100684-1
S head
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Parts List
11.3 U-Axis Unit
11.3
U-Axis Unit
Fig. 11-3: U-Axis Unit
3021
3023
3022
3025
3024
3018
3019
3026
3027 3028
3020
3001
3029
3004
3011
3007
3017
3015
3014
3006 3002
3012
3013
3003
3002
2001
3016
3009
3005
3008
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Parts List
11.3 U-Axis Unit
Table 11-3: U-Axis Unit

No.
DWG No.
Name
Pcs
3001
3002
HW1100686-1
Casing
M12X25

screw
3003
2H-12
3004
HW1304321-1
Gear
3005
NPTF3/8 (STAINLESS)
Hexagon socket head

tapered pipe plug (NPTF
type)
3006
M5X90

screw
3007
2H-5
3008
HW0386621-C
Speed reducer
3009
M6X35
GT-SA bolt
16
3010
HW1405391-1
Plate
3011
M5X16
GT-SA bolt
3012
M8X40

screw
3013
2H-8
18
3014
SGMRV-05ANA-YR1*
Motor
3015
M8X30
GT-SA bolt
3016
PT3/8 (STAINLESS)
Hexagon socket head

plug
3017
M4X12
GT-SA bolt
3018
HW1405434-1
Cover
3019
CP-30-OB-8
Opened bushings
3020
HW1405433-1
Cover
3021
M4X12
GT-SA bolt
3022
KQE12-03
Union
3023
PT3/8
Hexagon socket head

plug
3024
KQE10-03
Union
3025
PT3/8
Hexagon socket head

plug
3026
M3X16 (STAINLESS)
Pan-head sems screw
3027
M3 (STAINLESS)
Nut
3028
HW1405648-1
N base
3029
M4X12
GT-SA bolt
2001
HW1100696-1
L arm
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Parts List
11.4 R-Axis Unit
11.4
R-Axis Unit
Fig. 11-4: R-Axis Unit
5001
4010
4011
4012
4008
4013
4031
4029
4032
4030
4028
4009
3001
4034
4042
4040
4035
4036 4033
4035
4037
4038
4038
4039
4006
4002
4052
4016
4007
4023
4041
4047
4048
4024
4026
4005
4004
4025
4001
4003
4019
4018
4015 4017
4020
4027
4051
4049
4043
4046
4014
4044
4053 4045
4050
4021
4022
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Parts List
11.4 R-Axis Unit
Table 11-4: R-Axis Unit (Sheet 1 of 2)

No.
DWG No.
Name
Pcs
4001
HW1200340-1
Housing
4002
M5X45
GT-SA bolt
4003
HW1304319-1
Gear
4004
HW1303257-2
Shaft
4005
M3X12
GT-SA bolt
4006
HW1382521-A
Speed reducer
4007
TC52647
Oil seal
4008
M6X40
GT-SA bolt
4009
HW1304069-1
Shaft
4010
TC1151306
Oil seal
4011
M6X25
GT-SA bolt
4012
M6X20
GT-SA bolt
4013
HW1304196-1
Shaft
4014
SGMAV-02ANA-YR1*
Motor
4015
TC20305 (FKM)
Oil seal
4016
M3X12
GT-SA bolt
4017
HW1405390-1
M base
4018
HW1304320-1
Gear
4019
M4X14

screw
4020
2H-4
4021
M3X12
GT-SA bolt
4022
M4X12
GT-SA bolt
4023
M4X12
GT-SA bolt
4024
PT1/8 (STAINLESS)
Hexagon socket head

plug
4025
PT1/8 (STAINLESS)
Hexagon socket head

plug
4026
HW1404157-*
Shim
4027
HW1405571-*
Shim
4028
TA1-S8
Clamp
4029
M4X6 (STAINLESS)
Pan-head sems screw
4030
M4 (STAINLESS)
Washer
4031
T30R
Cable tie
4032
HW1405181-1
Support
4033
PZ1212
Saddle
4034
PZ1208
Saddle
4035
M4X6 (STAINLESS)
Cross head APS bolt
4036
M4X12
GT-SA bolt
4037
HW1405459-1
Cover
4038
M4X6 (STAINLESS)
Cross head APS bolt
4039
PZ1208
Saddle
4040
HW1405430-1
Support
4041
M4X12
GT-SA bolt
4042
PZ1212
Saddle
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Parts List
11.4 R-Axis Unit
Table 11-4: R-Axis Unit (Sheet 2 of 2)
No.
DWG No.
Name
Pcs
4043
KR8G5
Clamp
4044
M5X8
Pan-head sems screw
4045
T120R
Cable tie
4046
HW1404041-1
Support
4047
M4X12
GT-SA bolt
4048
HW1404786-1
Gasket
4049
HW1303904-1
Cover
4050
M4X12
GT-SA bolt
4051
HW9481319-D
Cable bushing
4052
M4X12
GT-SA bolt
4053
M4X12
GT-SA bolt
3001
HW1100686-1
Casing
5001
HW1100687-1
U arm
11-9
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Parts List
11.5 Wrist Unit
11.5
Wrist Unit
Fig. 11-5: Wrist Unit
5036
5064
5062
5063 5056
5043
5031
5041
5035
5034
5042
5038
5037
5033
5032
5028
5023
5039
5052
5065
5053
5051
5017
5057
5022
5015
5016
5018
5067 5058
5066
5050
5014
5040
5027
5024
5025 5072
5069
5078
5021
5076 5020
5070
5011 5073
5010
5012
5003
5030
5026
5029
5008
5006
5061
5019
5001
5045
5044
5047
5048
5002
5002
5054
5007
5068
5075
5004
5005
5074
5049
5046 5055
5009
5060
5008
5077
5013
5059
11-10
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Parts List
11.5 Wrist Unit
Table 11-5: Wrist Unit (Sheet 1 of 2)

No.
DWG No.
Name
Pcs
5001
HW1100687-1
U arm
5002
SGMAV-02ANA-YR1*
Motor
5003
M4X16
GT-SA bolt
5004
M4X14

screw
5005
2H-4
5006
HW1405397-1
M base
5007
HW1405800-1
M base
5008
HW1405425-1
Cover
5009
M4X16
GT-SA bolt
5010
HW1405412-1
Fly wheel
5011
M4X20

screw
5012
2H-4
5013
HW1304332-1
Cover
5014
WR20
Circlip
5015
HW1301402-1
Shaft
5016
HW1404049-1
Cover
5017
M8X45

screw
5018
2H-8
5019
HW9481218-A
Bearing
5020
M3X28
GT-SA bolt
5021
6810DDU
Bearing
5022
HW1404059-6
Spring
5023
HW1304334-1
Gear
5024
M8X25

screw
5025
2H-8
5026
HW1304335-1
Gear
5027
M3X10
GT-SA bolt
5028
AR28
Retaining ring C-type
5029
HW1405355-1
B cover
5030
HW1405356-1
Shaft
5031
TCY53625*NBR*
Oil seal
5032
RNA4902
Bearing
5033
HW1304340-1
Gear
5034
HW1371294-B
Gear assy
5035
RA9008C0
Bearing
5036
TC64746
Oil seal
5037
TC1001105
Oil seal
5038
HW1303262-1
Cover
5039
HW1304699-1
Flange
5040
M3X10
GT-SA bolt
11-11
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Parts List
11.5 Wrist Unit
Table 11-5: Wrist Unit (Sheet 2 of 2)
No.
DWG No.
Name
Pcs
5041
HW1404055-1
Holder
5042
M3X10
GT-SA bolt
12
5043
HW1100688-1
Wrist
5044
M3X10
GT-SA bolt
22
5045
HW1304330-1
Shaft
5046
M3X20
GT-SA bolt
12
5047
IRTW-26
Retaining ring
5048
6803LLU
Bearing
5049
M3X10
GT-SA bolt
5050
6804
Bearing
5051
6902
Bearing
5052
HW1382522-A
Speed reducer
5053
M3X28
GT-SA bolt
20
5054
HW1404047-1
Housing
5055
M3X16
GT-SA bolt
5056
M6X6

screw
5057
HW0404371-1
Bolt
5058
HW1404058-1
Cover
5059
M4X12
GT-SA bolt
14
5060
M4X8
GT-SA bolt
5061
M4X12
GT-SA bolt
5062
HW1405650-1
Cover
5063
HW1405651-1
Gasket
5064
M4X10 (STAINLESS)
Cross head APS bolt
5065
M4X12
GT-SA bolt
5066
M3X10
GT-SA bolt
5067
M3X10
GT-SA bolt
5068
M4X12
GT-SA bolt
5069
M4X12

screw
5070
M4X8
GT-SA bolt
5071
HW1304649-1
Cover
5072
HW1405773-A
Pulley
5073
HW1405774-A
Pulley
5074
HW1405775-A
Pulley
5075
HW1405776-A
Pulley
5076
150cepter-6S3M999
Belt
5077
60S5M750
Belt
5078
2H-4
11-12
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Parts List
11.6 Gear Unit (No.5040)
11.6
Gear Unit (No.5040)

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

No.
DWG No.
Name
Pcs
6001
HW1304700-1
Gear
6002
HW1303252-1
Gear
6003
HW1405885-1
Collar
6004
HW1404050-1
Pin
6005
HW1405463-1
Coil spring
6006
M312
GT-SA bolt
11-13
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MOTOMAN-MH24
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 GmbH
Robotics Divsion )
Yaskawastrasse 1, 85391 Allershausen, Germany
Phone +49-8166-90-100
Fax +49-8166-90-103
YASKAWA Nordic AB
Bredbandet 1 vn. 3 varvsholmen 392 30 Kalmar, Sweden
Phone +46-480-417-800
Fax +46-480-417-999
YASKAWA Electric (China) Co., Ltd.
22/F One Corporate Avenue No.222, Hubin Road, Huangpu District, Shanghai 200021, China
Phone +86-21-5385-2200
Fax 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 Co., Ltd
9F, KyoboSecuritiesBldg., 26-4, Yeouido-dong,Yeongdeungpo-gu, Seoul 150-737, Korea
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.
252/125-126 27th Floor, Tower B Muang Thai-Phatra Complex Building,
Rachadaphisek RoadHuaykwang, Bangkok 10320, Thailand
Phone +66-2693-2200
Fax +66-2693-4200
PT. YASKAWA Electric Indonesia
Menara Anugrah Lantai 1, Kantor Taman E.3.3, JI Mega Kuningan Lot 8.6-8.7, Kawasan
Mega Kuningan, Jakarta, Indonesia
Phone +62-21-57941845
Fax +62-21-57941843
Specifications are subject to change without notice

for ongoing product modifications and improvements.
YASKAWA ELECTRIC CORPORATION
Printed in Japan October 2014 14-09
MANUAL NO.
HW1482751
75/75

MH24 Manipulator取説

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MH24 Manipulator取説

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MOTOMAN-MH24

YASKAWA ELECTRIC CORPORATION

This instruction manual is intended to explain mainly on the

General items related to safety are listed in Chapter 1: Safety of the

The drawings and photos in this manual are representative

YASKAWA may modify this model without notice when necessary

If such modification is made, the manual number will also be

If your copy of the manual is damaged or lost, contact a YASKAWA

YASKAWA is not responsible for incidents arising from unauthorized

Notes for Safe Operation

Indicates an imminent hazardous

Indicates a potentially hazardous

Indicates a potentially hazardous

Always be sure to follow explicitly the

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

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

Maintenance and inspection must be performed by specified

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

Before operating the manipulator, check that servo power is turned

Injury or damage to machinery may result if the emergency stop circuit

Injury may result from unintentional or unexpected manipulator motion.

Observe the following precautions when performing teaching

Improper or unintended manipulator operation may result in injury.

Confirm that no person is present in the P-point maximum envelope

Perform the following inspection procedures prior to conducting

Always return the programming pendant to the hook on the cabinet

The programming pendant can be damaged if it is left in the

Read and understand the Explanation of Warning Labels in the

Definition of Terms Used Often in This Manual

DX200 programming pendant

Cable between the manipulator and the

Explanation of Warning Labels

If the numbers do not match, manipulators may not perform as

Order Number Confirmation

Label (Enlarged View)

(a) DX200 (Front View)

Check that the manipulator

(b) Manipulator (Side View)

Sling applications and crane or forklift operations must be

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

The weight of the manipulator is approximately 275 kg

Mount the shipping bolts and brackets for transporting the

Shipping bolts and bracket

Hexagon socket head cap screw M12X30 (2 screws)

Bolt M16 (4 places)

Forklift claw entries

Shipping Bolts and Brackets

Hexagon socket head cap screw M12X30 (2 screws)

The shipping bolts and bracket are painted yellow.

Cushioning Material for Transport

A rubber cushion is respectively wedged at the sections A and B.

Before turning ON the power, check to be sure that the

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

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

The manipulator may overturn and cause injury or damage.

Failure to observe these warnings may result in injury or damage.