Multi-Purpose Robot

MOTOMAN-MH and UP Series

Certified for
ISO9001 and
ISO14001

QMS Accreditation
JQA-0813 JQA-EM0202
R009
 Total Solutions to Achieve Short Processing

Yaskawa builds optimum facilities with a

complete lineup and the new DX 200 robot
controller.

Save Space
Energy
Structures, performance, and functions designed for optimum application help
you downsize production facilities and save energy.

Hardware

Manipulator Robot Controller DX200

Best Performance in its class The DX200 is a low-floor robot controller
developed with Yaskawa s expertise
High speed and high precision have been achieved
acquired through the development of
by using high-speed, low-inertia AC servomotors and products for various applications. The
state-of-the-art control technology. A slimmer robot amplifier for three external axes and
form has also been developed, while wrist allowable other options that previously required
inertia has been increased. attachment tools can now be housed
inside a standard cabinet, reducing the
Applicable in Severe Environments required space for installation by up to
The waterproof and dustproof structure (IP67 class 50%. The safety functions have been
level)*1 at the wrist part enables the robot to operate Installation space for strengthened by improving the safety
in environments subject to water drops and dust. the control panel is performance of the speed limiting
function and tool switching monitoring
* 1 : MH5S and MH5LS are available as options. reduced by 50%.
function.

Line-up of Multi-purpose Robot

Handling of small to large workpieces,
Applications
assembly, machine tending*2, arc welding, MH600
500 spot welding, sealing and glue application, 1 400kg
1 600kg
cutting workpieces, etc. 2 R3518mm
2 R2942mm

400 1 Payload
1 400kg
2 Maximum reach 2 R2942mm UP400RD
MH400
1 250kg
1 280kg
300 2 R2446mm MH250 2 R2710mm
MH280
1 215kg
1 225kg
MH225 MH215
M 2 R2912mm
200 2 R2702mm
Payload (kg)

MH110 MH180
0 1 180kg
1 80kg 2 R2702mm
2 R2061mm
100 1 110kg MH180
180-120
120
2 R2236mm
1 120kg
1 24kg H80
MH 2 R3058mm
2 R1730mm MH50
MH50 -35
20 1 12kg 1 50kg MH50 --20
20
1 35kg
2 R1440mm MH24 2 R2061mm
2 R2538mm 20kg
15 1
1 5kg 1 5kg 2 R3106mm
2 R706mm 2 R895mm
10
MH12 MH24-10
24-10
24-
5 1 10kg
MH5S MH5LS 2 R2010mm
0
1000 2000 3000 4000
2 Maximum reach (mm) 2 : Loading and unloading for NC machine tools, die -
casting, bending, injection molding presses, etc.
 Short processing New robot Short Customer
solutions process advantages
Increased freedom in operation or compact and
slim design have made the new robots more
optimized for specific applications. High-density Slimmer design enables closer mounting. Shorter production Highly efficient
lines. production.
installation has contributed customers production Smaller Controller saves space.
Reduced number of Better quality.
line to saving space. The facility which enables Multiple Robot Controller prevents robots from
processes.
collisions. Saving energy.
integrated process, rapid production and saving
space is called short processing . Installation space reduced by safety function
(restricting the range of Robot operation).

Software

No Deviation from Track at Emergency Stop Playback Path Confirmation

The Robot stops on the taught path at The playback path mode during a test
emergency stop and will not deviate from the operation can be confirmed by a low speed
path when restarting, preventing interference test operation. This has mode the teaching
of the Robot with nearby obstacles. operation with the optimum path in minimal
time possible while verifying the existence of
No path errors interference with workpieces or jigs.
even at restart.
Teaching point 3 Playback path confirmation
at low speed
Emergency
stop position
Teaching point 4
Operating Teaching point 2
direction

Teaching point 5
Teaching point 1

Minimized Area for Safety Fence Installation Optional

Movements of the robot can be limited within an optimal range for the attached tool by monitoring
positions of the robot and tool with the functional safety module equipped with two CPUs. With this
function, the safety fence can be installed for an area that is smaller than the motion range of the robot,
which reduces the required installation space for production equipment.
C Monitoring of the Previously : Safety Functions :
plain surface:
Not to let the robot exceed A safety fence is required Less space is necessary
the plain surface and
the slanted ceiling. around the robot motion area.
Virtual limitation area
Safety fence +Safety fence
Monitoring of
C A A the inside of area:
B Not to let the
robot come out
from an area.

Multiple limitation areas

( A B C ) can be combined B Monitoring of the outside of area:
Not to let the robot enter into an area.
for monitoring, and it can Robot motion area Previous safety fence position
shorten the time for setting.

Saving Energy

The servos are turned OFF automatically Conditions

Twenty-four-hour operation in which the Robot is operating for
when the Robot is stopped for a long period
16 hours and on standby for 8 hours
of time. Reduced power consumption helps Robot operation control On standby until next command
lower running costs.
Operating Motor outputs
status are shut off and
brakes applied Energy
while the Robot savings:
Motor is on standby.
outputs Approx.25%
Brakes are
applied at a fixed
Brake time intervals
after the standby
Timer status starts.

3
 Total Solutions to Achieve Short Processing

Easy Operation
Simulation
Operability of teaching and simulation have been improved to reduce time
required for system startup.

Multi-window Display Function MotoSimEG-VRC Simulator Optional

Program operation can be checked while monitoring I/O or The Simulator has evolved from merely simulating
variables on the programming pendant so that teaching and Robot operation to a Virtual Controller that reproduces
trial operation efficiency the functions, operations, and displays of the actual
will increase. Robot. Easy simulation is possible by anyone with an
understanding of Robot operation.

Quick Maintenance
Troubleshooting
MOTOMAN continually strives to improve monitoring, troubleshooting, and
structures to reduce maintenance and recovery time from failures.

Reduced Replacement
Troubleshooting
Time for Parts
When an alarm occurs, the detail, cause, and We have reduced the time required to replace Controller
countermeasure of the error are displayed on the parts to shorten recovery time when troubles do occur.
Programming Pendant to provide measures for (Required time for replacement: from 10 to 8 minutes:
troubleshooting. reduced by 20%)
The encoder can be replaced with standard tools since
it employs a unit style and thus the required time for
replacement is reduced.
An optional zeroing function can be used to accurately
and quickly reset the home position after replacing the
motor or encoder.

Error
Cause

Countermeasure

4
 XX123
MOTOMAN-MH5S
5 kg payload, 706mm
payload, RR706 mmmaximum
maximumreach
reach

Dimensions Units : mm : P-point Maximum Envelope

Tapped holes M8 (4 holes) Tapped holes M4 (4 holes) Tapped holes M5 (4 holes)

(Depth: 16) (Pitch: 1.25) 423 (Depth: 9) (Pitch: 0.8)
(Depth: 8) (Pitch: 0.7)
170 298 45
31
.5
dia
70 55 Tapped holes M4 (2 holes) .
(Depth: 8) (Pitch: 0.7)

25
40

dia.
110
87

12 +0.018
5 +0.012

0
0 dia.(1 hole)
(Depth: 7)
5 (fitting depth)
53

170 R7 View A
R2

0 6

Connector for internal user

I/O wiring harness:
HR10A-10R-10P (73)
501

277
233

114

235

706
15
0

Matching connector:

88 305 80
HR10A-10P-10S HIROSE
(provided by users) * *
947

109 109
60

U B
A 688
40

Air inlet
R T Tapped holes PT1/4
P-Point (with pipe plug)
65
310

474
View B
L
100±0.05
37

105
150
740

255

194
160 6 +0.012
0 dia.(2 holes)

100±0.05
92±0.1 92±0.1
239
330

138

160

156 194
B
S
0
85±0.1

136 12 +0.018
0 dia. 12 dia. (4 holes)
C (1 hole) (mounting holes)
60±0.1 66±0.1
51

203
243
0

178
246
View C

Manipulator Specifications
Model MOTOMAN-MH5S *3 R -axis (wrist roll) 12 N·m
Allowable
Type YR-MH0005S-J00 B -axis (wrist pitch/yaw) 12 N·m
Moment
Controlled Axis 6 (Vertically articulated) T -axis (wrist twist) 7 N·m
Payload 5 kg Allowable R -axis (wrist roll) 0.30 kg·m2
Repeatability*1 ± 0.02 mm Inertia B -axis (wrist pitch/yaw) 0.30 kg·m2
S -axis (turning) − 170˚ − +170˚ (GD2/4) T -axis (wrist twist) 0.1 kg·m2
L -axis (lower arm) − 65˚ − +150˚ Approx. Mass 27 kg
Range of U -axis (upper arm) − 136˚ − +255˚ Temperature 0˚C to +45˚C
Motion R -axis (wrist roll) − 190˚ − +190˚ Humidity 20% to 80%RH (non-condensing)
B -axis (wrist pitch/yaw) − 135˚ − +135˚ Ambient Vibration 4.9 m/s2 or less
T -axis (wrist twist) − 360˚ − +360˚ conditions Free from corrosive gas or liquid, or explosive gas or liquid
S -axis (turning) 6.56 rad/s, 376˚/s Others Free from exposure to water, oil, or dust
L -axis (lower arm) 6.11 rad/s, 350˚/s Free from excessive electrical noise (plasma)
Maximum U -axis (upper arm) 6.98 rad/s, 400˚/s Power Requirements*2 1.0 kVA
Speed R -axis (wrist roll) 7.85 rad/s, 450˚/s
*1 : Conforms to ISO 9283.
B -axis (wrist pitch/yaw) 7.85 rad/s, 450˚/s *2 : Varies in accordance with applications and motion patterns.
T -axis (wrist twist) 12.57 rad/s, 720˚/s *3 : Also compatible with FS100 controller.
For details, refer to the KAEP C940440 06 catalog.
Note : SI units are used for specifications.
5
 MOTOMAN-MH5LS
5 kg payload, R895 mm maximum reach

Dimensions Units : mm : P-point Maximum Envelope

Tapped holes M8 (4 holes)

523 (Depth: 16) (Pitch: 1.25) Tapped holes M5 (4 holes)
0 398 (Depth: 9) (Pitch: 0.8)
17 Tapped holes M4 (2 holes) 45
70 55 (Depth: 8) (Pitch: 0.7) 31
.5

dia.(Depth: 5)
dia
.

dia.
110
87

12 +0.018
12 +0.018
Install attachments
5 +0.012
25
40

dia.(1 hole)

0
0
to this range 0
(Depth: 7)
Detail 5 (fitting depth)
67 drawing
R2 R8
95

40 dia.
170 View A
Tapped holes M4 (4 holes) 0.5
(Depth: 8) (Pitch: 0.7)
Connector for internal user
I/O wiring harness:
HR10A-10R-10P (73)
681

400
341

132

267

895

Matching connector:
* *
9
0

HR10A-10P-10S HIROSE
(provided by users)
1137

88 405 80
109 109
60

U R
B 808
A
40

T Air inlet
Tapped holes PT1/4
65 P-Point (with pipe plug)
400

15
0

503
L View B
830

32

255
6 +0.012
0 dia.(2 holes)
60±0.1 66±0.1
S
330

B 198 100±0.05
92±0.1 92±0.1

98
194
160
138

0
85±0.1

C
138
12 dia. (4 holes)
0
14

209
288

12 +0.018 dia. 160

0 (mounting holes)
(1 hole) 194
317 105 100±0.05

423
View C

Manipulator Specifications
Model MOTOMAN-MH5LS *3 R -axis (wrist roll) 12 N·m
Allowable
Type YR-MH005LS-J00 B -axis (wrist pitch/yaw) 12 N·m
Moment
Controlled Axis 6 (Vertically articulated) T -axis (wrist twist) 7 N·m
Payload 5 kg Allowable R -axis (wrist roll) 0.30 kg·m2
Repeatability*1 ± 0.03 mm Inertia B -axis (wrist pitch/yaw) 0.30 kg·m2
S -axis (turning) − 170˚ − +170˚ (GD2/4) T -axis (wrist twist) 0.1 kg·m2
L -axis (lower arm) − 65˚ − +150˚ Approx. Mass 29 kg
Range of U -axis (upper arm) − 138˚ − +255˚ Temperature 0˚C to +45˚C
Motion R -axis (wrist roll) − 190˚ − +190˚ Humidity 20% to 80%RH (non-condensing)
B -axis (wrist pitch/yaw) − 135˚ − +135˚ Ambient Vibration 4.9 m/s2 or less
T -axis (wrist twist) − 360˚ − +360˚ conditions Free from corrosive gas or liquid, or explosive gas or liquid
S -axis (turning) 4.71 rad/s, 270˚/s Others Free from exposure to water, oil, or dust
L -axis (lower arm) 4.89 rad/s, 280˚/s Free from excessive electrical noise (plasma)
Maximum U -axis (upper arm) 5.24 rad/s, 300˚/s Power Requirements*2 1.0 kVA
Speed R -axis (wrist roll) 7.85 rad/s, 450˚/s
*1 : Conforms to ISO 9283.
B -axis (wrist pitch/yaw) 7.85 rad/s, 450˚/s *2 : Varies in accordance with applications and motion patterns.
T -axis (wrist twist) 12.57 rad/s, 720˚/s *3 : Also compatible with FS100 controller.
For details, refer to the KAEP C940440 06 catalog.
Note : SI units are used for specifications.
6
 MOTOMAN-MH12
12 kg payload, R1440 mm maximum reach

Dimensions Units : mm : P-point Maximum Envelope

170 44 0

0
R1

1
R4
4 +0.012
0 dia.(1 hole) 2
(Depth: 6) 2.5

50 dia.
Tapped holes M6
(2 holes)(Depth: 12)
.
26

(Pitch: 1.0) 56 dia

130

128
Install attachments

60
13

to this range

dia.
100 dia.
45 475 128

62 -0.019
Detail
Tapped holes M6 (4 holes) drawing Tapped holes M4 (8 holes)

0
170 (Depth: 14) (Pitch: 1.0) 5 (Depth: 8) (Pitch: 0.7)

4 View A

dia.

100 dia.
(Depth: 5)
62 -0.019
0
Air inlet PT3/8
with pipe plug (A)

1734 199 94.5

P-point
155 640 100
100

84

U R Connector for internal user

B
I/O wiring harness:
A JL05-2A20-29PC (with cap)
Matching connector:
200

T JL05-6A20-29S (provided by users)

85

View B
614

90
198.5
705
L
155

240
2511

300
240 260 132±0.1
450

299 60
18 dia. (4 holes)
B

132±0.1 153
102±0.1
S
0
300
292
260

C
60

361
12 +0.018 16 +0.018 dia.
130±0.1

0 dia. 0
(1 hole) (2 holes)
17
5 100±0.1 102±0.1
153±0.1
777
View C
1129

848

606

206

410

1440

Manipulator Specifications
Model MOTOMAN-MH12*3 R -axis (wrist roll) 22 N·m
Allowable
Type YR-MA1440/MH12-A00 B -axis (wrist pitch/yaw) 22 N·m
Moment
Controlled Axis 6 (Vertically articulated) T -axis (wrist twist) 9.8 N·m
Payload 12 kg Allowable R -axis (wrist roll) 0.65 kg·m2
Repeatability*1 ± 0.08 mm Inertia B -axis (wrist pitch/yaw) 0.65 kg·m2
S -axis (turning) − 170˚ − +170˚ (GD2/4) T -axis (wrist twist) 0.17 kg·m2
L -axis (lower arm) − 90˚ − +155˚ Approx. Mass 130 kg
Range of U -axis (upper arm) − 175˚ − +240˚ Temperature 0˚C to +45˚C
Motion R -axis (wrist roll) − 180˚ − +180˚ Humidity 20% to 80%RH (non-condensing)
B -axis (wrist pitch/yaw) − 135˚ − +135˚ Ambient Vibration 4.9 m/s2 or less
T -axis (wrist twist) − 360˚ − +360˚ conditions Free from corrosive gas or liquid, or explosive gas or liquid
S -axis (turning) 3.84 rad/s, 220˚/s Others Free from exposure to water, oil, or dust
L -axis (lower arm) 3.49 rad/s, 200˚/s Free from excessive electrical noise (plasma)
Maximum U -axis (upper arm) 3.84 rad/s, 220˚/s Power Requirements*2 1.5 kVA
Speed R -axis (wrist roll) 7.16 rad/s, 410˚/s
*1 : Conforms to ISO 9283.
B -axis (wrist pitch/yaw) 7.16 rad/s, 410˚/s *2 : Varies in accordance with applications and motion patterns.
T -axis (wrist twist) 10.60 rad/s, 610˚/s *3 : Also compatible with FS100 controller.
For details, refer to the KAEP C940440 06 catalog.
Note : SI units are used for specifications.
7
 MOTOMAN-MH24
24 kg payload, R1730 mm maximum reach

Dimensions Units : mm : P-point Maximum Envelope

Tapped holes M6 (4 holes) Tapped holes M4 (8 holes)
(Depth: 12) (Pitch: 1.0) (Depth: 8) (Pitch: 0.7) 22.5
630
Tapped holes M6 (2 holes) 4 +00.012 dia.(1 hole)
168 70 (Depth: 12) (Pitch: 1.0) (Depth: 6)
R4 180 .
06 56 dia

100 dia.
dia.
50 dia.
0
R173

128
62 -0.019
0
96.5
26

dia.

(Depth: 5)
Install attachments 128

(1 hole)
62 -0.019
to this range
13

0
85.5
182
100

130

Detail

100 dia.
1 6 drawing View A
R3 180
15 Tapped holes M6 (4 holes) 5
45 (Depth: 14) (Pitch: 1.0)
4

Air inlet PT3/8

with pipe plug
P-Point 2085 405
100

50
150 795 100
114 U R B
200 120

A Mount objects Connector for internal user

I/O wiring harness:
281

to this range
JL05-2A20-29PC (with cap)
84

T Matching connector:
JL05-6A20-29S (provided by users)
139
1074 View B
760

761
10

155

L 375
335
135
18 dia. 316 200 ±0.1
505

343
240

(4 holes)
60
200 ±0.1

0 B 0
C 266 229
170 ±0.1

S
495
335
375
311
292

60

480 519
170 12 +0.018
0 dia. 260 ±0.1
(2 holes)
C5
1004 View C
1430

1024
876
808
694

277
0
102

348
406

1730

Manipulator Specifications
Model MOTOMAN-MH24 R -axis (wrist roll) 50.0 N·m
Allowable
Type YR-MH00024-A00 B -axis (wrist pitch/yaw) 50.0 N·m
Moment
Controlled Axis 6 (Vertically articulated) T -axis (wrist twist) 30.4 N·m
Payload 24 kg Allowable R -axis (wrist roll) 2.1 kg·m2
Repeatability*1 ± 0.06 mm Inertia B -axis (wrist pitch/yaw) 2.1 kg·m2
S -axis (turning) − 180˚ − +180˚ (GD2/4) T -axis (wrist twist) 1.1 kg·m2
L -axis (lower arm) − 105˚ − +155˚ Approx. Mass 268 kg
Range of U -axis (upper arm) − 170˚ − +240˚ Temperature 0˚C to +45˚C
Motion R -axis (wrist roll) − 200˚ − +200˚ Humidity 20% to 80%RH (non-condensing)
B -axis (wrist pitch/yaw) − 150˚ − +150˚ Ambient Vibration 4.9 m/s2 or less
T -axis (wrist twist) − 455˚ − +455˚ conditions Free from corrosive gas or liquid, or explosive gas or liquid
S -axis (turning) 3.44 rad/s, 197˚/s Others Free from exposure to water, oil, or dust
L -axis (lower arm) 3.32 rad/s, 190˚/s Free from excessive electrical noise (plasma)
Maximum U -axis (upper arm) 3.67 rad/s, 210˚/s Power Requirements*2 2.0 kVA
Speed R -axis (wrist roll) 7.16 rad/s, 410˚/s
*1 : Conforms to ISO 9283.
B -axis (wrist pitch/yaw) 7.16 rad/s, 410˚/s *2 : Varies in accordance with applications and motion patterns.
Note : SI units are used for specifications.
T -axis (wrist twist) 10.82 rad/s, 620˚/s

8
 MOTOMAN-MH24-10
10 kg payload, R2010mm maximum reach

Dimensions Units : mm : P-point Maximum Envelope

Tapped holes M4 8 holes
Depth: 8 Pitch: 0.7 22.5
4 +00.012 dia.(1 hole)
180 (Depth: 6)
917 165

100 dia.
dia.
50 dia.
0
R201

62 -0.019
R5

0
130
70
6 16870
1

95
.
dia
26

56

62 -00.019 dia.
180

Depth: 5
Install attachments to
13

this range

1 hole
100

85
16

15 Tapped holes M6 2 holes

100 dia.
R3

45 Depth: 12 Pitch: 1.0 Detail drawing

Tapped holes M6 4 holes 5
180 Depth: 12 Pitch: 1.0 View A
Tapped holes M6 4 holes 4
Depth: 14 Pitch: 1.0

Air inlet PT3/8

Position of the internal with pipe plug A
connector main key

2365 405
50 Mount objects
to this range
150 1082 100
Connector for internal user I/O wiring harness:
100

114 JL05-2A20-29PC with cap

88

U R Matching connector: JL05-6A20-29S

B
A provided by users
200

T View B
1309
14
86

P-Point
281

139
.5
84

87
760

850
5
10

L
155

0 375
25
3649

335
135
18 dia. 200±0.1
505

199
4 holes 316
0 60
0 B S
200±0.1

C
266 229
170 0.1

335

476 495 375

292

538 568
60

580
729 70
1
12 +0.018
0 dia. 260±0.1
(2 holes)
2010
374
425
561

C5
1256
1287
1710

1041

839
951

792
559

1284 View C
0

Manipulator Specifications
Model MOTOMAN-MH24-10 R -axis (wrist roll) 22 N·m
Allowable
Type YR-MH00024-A10 B -axis (wrist pitch/yaw) 22 N·m
Moment
Controlled Axis 6 (Vertically articulated) T -axis (wrist twist) 9.8 N·m
Payload 10 kg Allowable R -axis (wrist roll) 0.65 kg·m2
Repeatability*1 ± 0.08 mm Inertia B -axis (wrist pitch/yaw) 0.65 kg·m2
S -axis (turning) − 180˚ − +180˚ (GD2/4) T -axis (wrist twist) 0.17 kg·m2
L -axis (lower arm) − 105˚ − +155˚ Approx. Mass 280 kg
Range of U -axis (upper arm) − 170˚ − +250˚ Temperature 0˚C to +45˚C
Motion R -axis (wrist roll) − 200˚ − +200˚ Humidity 20% to 80%RH (non-condensing)
B -axis (wrist pitch/yaw) − 135˚ − +135˚ Ambient Vibration 4.9 m/s2 or less
T -axis (wrist twist) − 455˚ − +455˚ conditions Free from corrosive gas or liquid, or explosive gas or liquid
S -axis (turning) 3.44 rad/s, 197˚/s Others Free from exposure to water, oil, or dust
L -axis (lower arm) 3.32 rad/s, 190˚/s Free from excessive electrical noise (plasma)
Maximum U -axis (upper arm) 3.67 rad/s, 210˚/s Power Requirements*2 2.0 kVA
Speed R -axis (wrist roll) 7.16 rad/s, 410˚/s
*1 : Conforms to ISO 9283.
B -axis (wrist pitch/yaw) 7.16 rad/s, 410˚/s *2 : Varies in accordance with applications and motion patterns.
Note : SI units are used for specifications.
T -axis (wrist twist) 10.60 rad/s, 610˚/s

9
 MOTOMAN-MH50
50 kg payload, R2061mm maximum reach

Dimensions Units : mm : P-point Maximum Envelope

180˚

50 +0.025 dia.
R20
61 6 +00.012 dia.(1 hole)

0
6 (Depth: 10)

dia.
50

40 42
50

100 -0.022
0
a.
3 8 di Tapped holes M8 (6 holes)
R54 77 Tapped holes M8 (4 holes) 80
(Depth: 14) (Pitch: 1.25)
R3 (Depth: 16) (Pitch: 1.25) +0.015
8 0 dia.(1 hole)
611.5 200 (Depth: 14)
180˚
View A
Connector for internal user
I/O wiring harness:
JL05-2A24-28SC (with cap)
Matching connector: Cover for fieldbus cable
JL05-6A24-28P (I.D12 dia. ) (in base)
2456 (provided by users) 32 Air inlet PT3/8
Tapped holes M4 with pipe plug
(4 holes)
145 1025 175 (Depth: 3)
187

32
U R B (Pitch: 0.7)
57

A
210

Connector for internal user

1369 T Air exhaust PT3/8 I/O wiring harness:
P-point with pipe plug JL05-2A24-28PC (with cap)
˚ Matching connector:
90 JL05-6A24-28S (provided by users)
870
1807

343 253
L
925
135

View B
3578
˚

12 +0.018 dia.
230±0.1

0
0˚ (2 holes)
12 437
540

195±0.1 22 dia. (8 holes)

118 B Tapped holes M12 (4 holes)
(Depth: 20) (Pitch: 1.75) 234 234
˚

S
55

0 0
105 105
320
280
385
455

C 195±0.1
453 460
195±0.1

230
Tube for fieldbus cable
400
(I.D12 dia. ) (in base) 170˚
195±0.1 230±0.1
153 455
1121
608
1771

1056

605

213
87
0
248

530
543

2061

3832 View C

Manipulator Specifications
Model MOTOMAN-MH50 R -axis (wrist roll) 216 N·m
Allowable
Type YR-MH00050-J00 B -axis (wrist pitch/yaw) 216 N·m
Moment
Controlled Axis 6 (Vertically articulated) T -axis (wrist twist) 147 N·m
Payload 50 kg Allowable R -axis (wrist roll) 28 kg·m2
Repeatability*1 ± 0.07 mm Inertia B -axis (wrist pitch/yaw) 28 kg·m2
S -axis (turning) − 180˚ − +180˚ (GD2/4) T -axis (wrist twist) 11 kg·m2
L -axis (lower arm) − 90˚ − +135˚ Approx. Mass 550 kg
Range of U -axis (upper arm) − 170˚ − +251˚ Temperature 0˚C to +45˚C
Motion R -axis (wrist roll) − 360˚ − +360˚ Humidity 20% to 80%RH (non-condensing)
B -axis (wrist pitch/yaw) − 125˚ − +125˚ Ambient Vibration 4.9 m/s2 or less
T -axis (wrist twist) − 360˚ − +360˚ conditions Free from corrosive gas or liquid, or explosive gas or liquid
S -axis (turning) 3.14 rad/s, 180˚/s Others Free from exposure to water, oil, or dust
L -axis (lower arm) 3.11 rad/s, 178˚/s Free from excessive electrical noise (plasma)
Maximum U -axis (upper arm) 3.11 rad/s, 178˚/s Power Requirements*2 4.0 kVA
Speed R -axis (wrist roll) 4.36 rad/s, 250˚/s
* 1 : Conforms to ISO 9283.
B -axis (wrist pitch/yaw) 4.36 rad/s, 250˚/s * 2 : Varies in accordance with applications and motion patterns.
T -axis (wrist twist) 6.28 rad/s, 360˚/s Note : SI units are used for specifications.

10
 MOTOMAN-MH50 -20
20 kg payload, R3106mm maximum reach

Dimensions Units : mm : P-point Maximum Envelope

180˚

6
R310 0.5 6

40
Tube for fieldbus cable 661.5 400 45˚

dia
(I.D12 dia.)

.
80
(in protective tubing)

50 -0.039 dia.
6

0
23
30

R9 Tapped holes M8 (4 holes)

(Depth: 15) (Pitch: 1.25)
77

dia.
R3

28.5 120
Tapped holes M8 (4 holes) 6 +00.012 dia. Tapped holes M6

25 +0.021
(Depth: 16) (Pitch: 1.25) (1 hole) (4 holes)

0
(Depth: 6) (Depth: 10)
(Pitch: 1.0)
180˚
View A
3501
Connector for internal user
I/O wiring harness:
JL05-2A24-28SC (with cap)
Matching connector: Cover for fieldbus cable
(I.D12 dia.) (in base)
JL05-6A24-28P
(provided by users) 32
145 1800 105
100

Air exhaust PT3/8

55

AIR

U R B 1BC

32
with pipe plug 2BC

A 2070
200

Tapped holes M4 (4 holes) Air inlet PT3/8

206˚

T (Depth: 3) (Pitch: 0.7) with pipe plug

˚ P-point
90
25˚ 349 253 Connector for internal user
1150

˚
45 I/O wiring harness:
1990

JL05-2A24-28PC (with cap)

223.5

L 1050
135

10˚ Matching connector:

5585
˚

JL05-6A24-28S
(provided by users)
S
540

B Tapped holes M12 (4 holes) 234 234 View B

40

(Depth: 20) (Pitch: 1.75) 0

105 12 +0.018 dia.
230±0.1

105 208 0
71

(2 holes)
65˚
˚

C 414 195±0.1 22 dia.

(8 holes)

0˚
16
455

385
320

1077
1227
195±0.1
280

Tube for fieldbus cable 230

195±0.1

(I.D12 dia.) (in base) 400

2084 195±0.1 230±0.1
153 455
2816

1402
1396
1065

665

36
0

358

733
923

3106

5922 608

View C
Manipulator Specifications
Model MOTOMAN-MH50 -20 R -axis (wrist roll) 39.2 N·m
Allowable
Type YR-MH00050-J10 B -axis (wrist pitch/yaw) 39.2 N·m
Moment
Controlled Axis 6 (Vertically articulated) T -axis (wrist twist) 19.6 N·m
Payload 20 kg Allowable R -axis (wrist roll) 1.05 kg·m2
Repeatability*1 ± 0.15 mm Inertia B -axis (wrist pitch/yaw) 1.05 kg·m2
S -axis (turning) − 180˚ − +180˚ (GD2/4) T -axis (wrist twist) 0.75 kg·m2
L -axis (lower arm) − 90˚ − +135˚ Approx. Mass 495 kg
Range of U -axis (upper arm) − 160˚ − +251˚ Temperature 0˚C to +45˚C
Motion R -axis (wrist roll) − 190˚ − +190˚ Humidity 20% to 80%RH (non-condensing)
B -axis (wrist pitch/yaw) − 50˚ − +230˚ Ambient Vibration 4.9 m/s2 or less
T -axis (wrist twist) − 360˚ − +360˚ conditions Free from corrosive gas or liquid, or explosive gas or liquid
S -axis (turning) 3.14 rad/s, 180˚/s Others Free from exposure to water, oil, or dust
L -axis (lower arm) 3.11 rad/s, 178˚/s Free from excessive electrical noise (plasma)
Maximum U -axis (upper arm) 3.11 rad/s, 178˚/s Power Requirements*2 3.5 kVA
Speed R -axis (wrist roll) 6.98 rad/s, 400˚/s
*1 : Conforms to ISO 9283.
B -axis (wrist pitch/yaw) 6.98 rad/s, 400˚/s *2 : Varies in accordance with applications and motion patterns.
Note : SI units are used for specifications.
T -axis (wrist twist) 10.47 rad/s, 600˚/s

11
 MOTOMAN-MH50 -35
35 kg payload, R2538mm maximum reach

Dimensions Units : mm : P-point Maximum Envelope

dia.
180˚

50 +0.025
0
6 +00.012 dia.(1 hole)
(Depth: 10)
6
80 dia.
50
50

dia.
40 42
-0.022
R2538

0
100
T-axis
Tapped holes M8 alignment mark
Tube for fieldbus 811.5 200 (4 holes) 8
8 +00.015 dia.
Tapped holes M8
5

cable (I.D12 dia. ) (Depth: 16)

R56

(6 holes)
(in protective tubing) (Pitch: 1.25) (1 hole)
180˚ (Depth: 14)
(Depth: 14)
(Pitch: 1.25)

View A
Cover for fieldbus cable
(I.D12 dia. )(in base)
Connector for internal user
I/O wiring harness: 32

32
JL05-2A24-28SC (with cap) Air inlet PT3/8
Matching connector: with pipe plug
2933 JL05-6A24-28P
(provided by users) Tapped holes M4
(4 holes)
187

145 1225 175 Tapped holes M4 (Depth: 3)

(4 holes) (Pitch: 0.7)
57

U R B (Depth: 3)
80

T (Pitch: 0.7) Connector for internal user

I/O wiring harness:
210

A Air exhaust PT3/8 JL05-2A24-28PC (with cap)

with pipe plug Matching connector:
1549 P-point 1549 JL05-6A24-28S (provided by users)
1150

45 10 View B
2087

343 253
223.5

90

L
960
4448
135

230±0.1

0 Tapped holes M12

12 12 +00.018 dia.
540

(4 holes) 229 (2 hole)

40

126 B (Depth: 20) 234 234

0 S 0 195±0.1 22 dia.
109 (Pitch: 1.75)
105 105 (8 holes)
65

C
320
280
385
455

195±0.1

625
160
889 230
Tube for fieldbus cable
195±0.1

ϕ base)
(I.D12 dia. )(in 400
195±0.1 230±0.1
1516 153 455
2248 1436 869 279 121 165 428 513 565 2538 608

View C

Manipulator Specifications
Model MOTOMAN-MH50 -35 R -axis (wrist roll) 147 N·m
Allowable
Type YR-MH00050-J20 B -axis (wrist pitch/yaw) 147 N·m
Moment
Controlled Axis 6 (Vertically articulated) T -axis (wrist twist) 78 N·m
Payload 35 kg Allowable R -axis (wrist roll) 10 kg·m2
Repeatability*1 ± 0.07 mm Inertia B -axis (wrist pitch/yaw) 10 kg·m2
− 180˚ − +180˚ (GD2/4) T -axis (wrist twist) 4 kg·m2
S -axis (turning)
( − 30˚ − +30˚ when mounted on the wall) Approx. Mass 570 kg
L -axis (lower arm) − 90˚ − +135˚ Temperature 0˚C to +45˚C
Range of
U -axis (upper arm) − 160˚ − +251˚ Humidity 20% to 80%RH (non-condensing)
Motion
R -axis (wrist roll) − 360˚ − +360˚ Ambient Vibration 4.9 m/s2 or less
B -axis (wrist pitch/yaw) − 125˚ − +125˚ conditions Free from corrosive gas or liquid, or explosive gas or liquid
T -axis (wrist twist) − 360˚ − +360˚ Others Free from exposure to water, oil, or dust
S -axis (turning) 3.14 rad/s, 180˚/s Free from excessive electrical noise (plasma)
L -axis (lower arm) 2.44 rad/s, 140˚/s Power Requirements*2 4.0 kVA
Maximum U -axis (upper arm) 3.11 rad/s, 178˚/s
*1 : Conforms to ISO 9283.
Speed R -axis (wrist roll) 4.36 rad/s, 250˚/s *2 : Varies in accordance with applications and motion patterns.
Note : SI units are used for specifications.
B -axis (wrist pitch/yaw) 4.36 rad/s, 250˚/s
T -axis (wrist twist) 6.28 rad/s, 360˚/s

12
 MOTOMAN-MH80
80 kg payload, R2061mm maximum reach

Dimensions Units : mm : P-point Maximum Envelope

dia.
Tube for fieldbus cable 180˚ Tapped holes M8

50 +0.025
(I.D12 dia. ) (4 holes)

0
(in protective tubing) (Depth: 16) 6 +00.012 dia.(1 hole)
(Pitch: 1.25) (Depth: 10)
6
R2061 80 dia.
50
50

dia.

40 42
-0.022
0
T-axis

100
alignment mark
R5
43 77 8 +0.015
8 0 dia. Tapped holes M8
R3 (1 hole) (6 holes)
611.5 200
(Depth: 14) (Depth: 14)
(Pitch: 1.25)
180˚ Connector for internal user
I/O wiring harness: View A
JL05-2A24-28SC (with cap)
Matching connector:
2456 JL05-6A24-28P
(provided by users)
Tapped holes M4 Cover for fieldbus cable
145 1025 175
187

(4 holes)(Depth: 3) (I.D12 dia. )(in base)

U R (Pitch: 0.7)
57

B 32 Air inlet PT3/8

A Air exhaust PT3/8 with pipe plug
with pipe plug
210

32
1369
T
P-point 199 Connector for internal user
˚ I/O wiring harness:
90
870

343 265
1807

JL05-2A24-28PC (with cap)

L 925 Matching connector:
135

JL05-6A24-28S (provided by users)

3578
˚

View B
0˚
12 437
540

Tapped holes M12 (4 holes)

118 B (Depth: 20) (Pitch: 1.75) 22 dia.
12 +00.018 dia. (8 holes)
230±0.1

S
˚
55

0 0 234 234 (2 holes)

105 105 195±0.1
C
453 460
455
385

320

Tube for fieldbus cable

(I.D12 dia. )(in base) 170˚
195±0.1
280

230
195±0.1

1121 400
195±0.1 230±0.1
1771

1056

605

213
87
0
248

530
543

2061

3832 153 455

608

View C

Manipulator Specifications
Model MOTOMAN-MH80 R -axis (wrist roll) 392 N·m
Allowable
Type YR-MH00080-J00 B -axis (wrist pitch/yaw) 392 N·m
Moment
Controlled Axis 6 (Vertically articulated) T -axis (wrist twist) 196 N·m
Payload 80 kg Allowable R -axis (wrist roll) 28 kg·m2
Repeatability*1 ± 0.07 mm Inertia B -axis (wrist pitch/yaw) 28 kg·m2
S -axis (turning) − 180˚ − +180˚ (GD2/4) T -axis (wrist twist) 11 kg·m2
L -axis (lower arm) − 90˚ − +135˚ Approx. Mass 555 kg
Range of U -axis (upper arm) − 170˚ − +251˚ Temperature 0˚C to +45˚C
Motion R -axis (wrist roll) − 360˚ − +360˚ Humidity 20% to 80%RH (non-condensing)
B -axis (wrist pitch/yaw) − 125˚ − +125˚ Ambient Vibration 4.9 m/s2 or less
T -axis (wrist twist) − 360˚ − +360˚ conditions Free from corrosive gas or liquid, or explosive gas or liquid
S -axis (turning) 2.97 rad/s, 170˚/s Others Free from exposure to water, oil, or dust
L -axis (lower arm) 2.44 rad/s, 140˚/s Free from excessive electrical noise (plasma)
Maximum U -axis (upper arm) 2.79 rad/s, 160˚/s Power Requirements*2 4.5 kVA
Speed R -axis (wrist roll) 4.01 rad/s, 230˚/s
*1 : Conforms to ISO 9283.
B -axis (wrist pitch/yaw) 4.01 rad/s, 230˚/s *2 : Varies in accordance with applications and motion patterns.
Note : SI units are used for specifications.
T -axis (wrist twist) 6.11 rad/s, 350˚/s

13
 MOTOMAN-MH110
110 kg payload, R2236 mm maximum reach

Dimensions Units : mm : P-point Maximum Envelope

Connector for internal 16
246 user I/O wiring harness
92 Tapped holes M8 (casing side): dia.
16 60 (4 holes) JL05-2A24-28SC (with cap) 125
Tapped holes M8 (4 holes)
(Depth: 16 ) (Depth: 14) Matching connector:
JL05-6A24-28P Tapped holes M10
Tapped holes M5 7 (10 holes)
98.5 100 (2 holes) (provided by users)
45

(Depth: 15)

dia.
dia.
(Depth: 9) Connector for DeviceNet:
8R5L30 10 +00.015 dia.(2 holes)

145 -0.025
31.5 +0.025
(Depth: 15)
Matching connector:

0
0
8A5006-32DN
View A
12.5
27.5

(provided by users)
R4
9 1 Connector for +24V:
R223 Connector for the Internal user wiring
6 CM03A-R4P-S-1
external axis (power cable): connector: Matching connector:
JL05-2A2 -29SC(with cap) JL05-2A24-28PC
Tapped holes M 6(2 holes) CM03-P4S
Matching connector: (with cap) (provided by users)
(Depth: 11) JL05-6A20-29P Matching connector:
(provided by users) JL05-6A24-28S Connector for DeviceNet:
Connector for +24V: (provided by users) CM02-8DR5P-CF
1R4030 Matching connector:
Matching connector: CM02A-8DP5S-D
CM03-J4P (provided by users)
(provided by users) 27 Air (5)
Key
2456

KQE12-03
position

27
320 1020 200
Air 1
U R B Air 3 KQE12-04
KQE12-03 Key Position Air 2
A Air (5) KQE12-04
KQE12-03 Cover for fieldbus cable Air 3
T (I.D12 dia. )(in base) KQE12-04
235

P-Point 256 Tapped holes M3

45 289 Air 4
(4 holes)
90
870

160 KQE12-04
1016 L Air 4 257 (Depth: 3.2)
949

966
155

KQE12-03
View B
3751

22dia.(8 holes)
540

12 +00.018 dia.(2 holes)

230±0.1

S
0 185

B
0 195±0.1
C 546
394
Air 2
455
385

KQE12-03
195±0.1

Air 1
185 KQE12-03
195±0.1

280

230
320

For the external axis

1295

(power cable): 400

JL05-2A18-1SC-F0 195±0.1 230±0.1
(with cap)
Matching connector: 153 455
1536

1482

349

414
543
740

2236
0

JL05-6A18-1P 608
3773 (provided by users)
View C
Manipulator Specifications
Model MOTOMAN-MH110 R -axis (wrist roll) 721 N·m
Allowable
Type YR-MS100/MH110-A00 B -axis (wrist pitch/yaw) 721 N·m
Moment
Controlled Axis 6 (Vertically articulated) T -axis (wrist twist) 294 N·m
Payload 110 kg Allowable R -axis (wrist roll) 60 kg·m2
Repeatability*1 ± 0.07 mm Inertia B -axis (wrist pitch/yaw) 60 kg·m2
S -axis (turning) − 180˚ − +180˚ (GD2/4) T -axis (wrist twist) 33.7 kg·m2
L -axis (lower arm) − 90˚ − +155˚ Approx. Mass 625 kg
Range of U -axis (upper arm) − 185˚ − +160˚ Temperature 0˚C to +45˚C
Motion R -axis (wrist roll) − 360˚ − +360˚ Humidity 20% to 80%RH (non-condensing)
B -axis (wrist pitch/yaw) − 125˚ − +125˚ Ambient Vibration 4.9 m/s2 or less
T -axis (wrist twist) − 360˚ − +360˚ conditions Free from corrosive gas or liquid, or explosive gas or liquid
S -axis (turning) 2.45 rad/s, 140˚/s Others Free from exposure to water, oil, or dust
L -axis (lower arm) 1.92 rad/s, 110˚/s Free from excessive electrical noise (plasma)
Maximum U -axis (upper arm) 2.27 rad/s, 130˚/s Power Requirements*2 5.0 kVA
Speed R -axis (wrist roll) 3.05 rad/s, 175˚/s
*1 : Conforms to ISO 9283.
B -axis (wrist pitch/yaw) 3.05 rad/s, 175˚/s *2 : Varies in accordance with applications and motion patterns.
Note : SI units are used for specifications.
T -axis (wrist twist) 4.44 rad/s, 255˚/s

14
 MOTOMAN-MH180
180 kg payload, R2702 mm maximum reach

Dimensions Units : mm : P-point Maximum Envelope

10 +00.015 dia.
344 92 Tapped holes M8 (4 holes)
R5

(2 holes)
(Depth: 14) (Depth: 8) 9 +00.015 dia.
15

16 60
Tapped holes M5 (2 holes) 8 (2 holes)
255 40 (Depth: 8)
(Depth: 9)
ia.
92 d

dia.
45

160 -0.025
125

0
dia.
8
Tapped
12.5

R2702 holes M10

27.5

dia.
120

(6 holes)
Tapped holes M6 (2 holes) 30

63 +0.030
(Depth: 14)
(Depth: 11)

0
Tapped
Tapped holes M8 (4 holes)
R7

holes M10
(Depth: 14) (6 holes)
13

(Depth: 14)

View A
Air inlet Rc3/8
970 2702 with pipe plug

3061

325 1225 225 275 344

153

2450 220
90 U R B
Connector for internal user
A I/O wiring harness (base side):
60 JL05-2A24-28PC (with cap)
300

T Matching connector: JL05-6A24-28S

(provided by users)
76

P-point
411 View B
R2 22 dia.
(8 holes)
20 +00.021 dia.
1150

L
2253
4

450 290 (2 holes)

250±0.1
957 500

185±0.1
Tube for fieldbus cable 928 420
(I.D12 dia. )(on S-head)

147 598
19

S
650

407
500
420
320

B
9
0 0
C
185±0.1

332 276 349 230±0.1 230±0.1

Tube for fieldbus cable 295±0.1
(I.D12 dia. )(in base)
0

562
577
709
713
762

1441

View C

Manipulator Specifications
Model MOTOMAN-MH180 R -axis (wrist roll) 1000 N·m
Allowable
Type YR-MS165/MH180-A00 B -axis (wrist pitch/yaw) 1000 N·m
Moment
Controlled Axis 6 (Vertically articulated) T -axis (wrist twist) 618 N·m
Payload 180 kg Allowable R -axis (wrist roll) 90 kg·m2
Repeatability*1 ± 0.2 mm Inertia B -axis (wrist pitch/yaw) 90 kg·m2
S -axis (turning) − 180˚ − +180˚ (GD2/4) T -axis (wrist twist) 46.3 kg·m2
L -axis (lower arm) − 60˚ − +76˚ Approx. Mass 970 kg
Range of U -axis (upper arm) − 147˚ − +90˚ Temperature 0˚C to +45˚C
Motion R -axis (wrist roll) − 360˚ − +360˚ Humidity 20% to 80%RH (non-condensing)
B -axis (wrist pitch/yaw) − 130˚ − +130˚ Ambient Vibration 4.9 m/s2 or less
T -axis (wrist twist) − 360˚ − +360˚ conditions Free from corrosive gas or liquid, or explosive gas or liquid
S -axis (turning) 2.18 rad/s, 125˚/s Others Free from exposure to water, oil, or dust
L -axis (lower arm) 2.01 rad/s, 115˚/s Free from excessive electrical noise (plasma)
Maximum U -axis (upper arm) 2.18 rad/s, 125˚/s Power Requirements*2 5.0 kVA
Speed R -axis (wrist roll) 3.18 rad/s, 182˚/s
*1 : Conforms to ISO 9283.
B -axis (wrist pitch/yaw) 3.05 rad/s, 175˚/s *2 : Varies in accordance with applications and motion patterns.
Note : SI units are used for specifications.
T -axis (wrist twist) 4.63 rad/s, 265˚/s

15
 MOTOMAN-MH180-120
120 kg payload, R3058 mm maximum reach

Dimensions Units : mm : P-point Maximum Envelope

Tapped holes M8
344 92 (4 holes) (Depth: 14) 10 +00.015 dia.
Tapped holes M8 Tapped holes M5 (2 holes)(Depth: 8)
5

16 60
(4 holes) (2 holes) (Depth: 9)
9 +00.015 dia.
R51

8
(Depth: 14) Tapped holes M6 (2 holes)(Depth: 8)
255 40 (2 holes) (Depth: 11) .
R3058 dia
92

dia.
45

160 -0.025
125 d

0
ia.
12.5

Tapped holes M10

120

(6 holes)(Depth: 14)
27.5

dia.
Tapped holes M10
8 (6 holes)(Depth: 14)

63 +0.030
30

0
R9
80

View A

Air inlet Rc3/8

(275) 344 with pipe plug
3416
220

2815 3058
1BC
970 325 1590 225
153

Connector for internal user

82

90 U R B I/O wiring harness:

JL05-2A24-28PC (with cap)
Matching connector: JL05-6A24-28S
60 A (provided by users)
T 300
View B
76

P-Point 766 22 dia.(8 holes)

R2
L 20 +00.021 dia.
450 290 (2 holes)
4

2253
1150

250±0.1
266 500
Tube for fieldbus cable 928 276 349 420
(I.D12 dia. )(on S-head)
797
24

S 185±0.1185±0.1
650

142
500
420
320

234
B

C 230±0.1 230±0.1
287 295±0.1
1440
372

889
908
735

Tube for fieldbus cable

(I.D12 dia. )(in base)
689
View C

Manipulator Specifications
Model MOTOMAN-MH180-120 R -axis (wrist roll) 883 N·m
Allowable
Type YR-MS165/MH180-A10 B -axis (wrist pitch/yaw) 883 N·m
Moment
Controlled Axis 6 (Vertically articulated) T -axis (wrist twist) 520 N·m
Payload 120 kg Allowable R -axis (wrist roll) 79 kg·m2
Repeatability*1 ± 0.2 mm Inertia B -axis (wrist pitch/yaw) 79 kg·m2
S -axis (turning) − 180˚ − +180˚ (GD2/4) T -axis (wrist twist) 40 kg·m2
L -axis (lower arm) − 60˚ − + 76˚ Approx. Mass 1010 kg
Range of U -axis (upper arm) − 142˚ − + 90˚ Temperature 0˚C to +45˚C
Motion R -axis (wrist roll) − 360˚ − +360˚ Humidity 20% to 80%RH (non-condensing)
B -axis (wrist pitch/yaw) − 130˚ − +130˚ Ambient Vibration 4.9 m/s2 or less
T -axis (wrist twist) − 360˚ − +360˚ conditions Free from corrosive gas or liquid, or explosive gas or liquid
S -axis (turning) 2.18 rad/s, 125˚/s Others Free from exposure to water, oil, or dust
L -axis (lower arm) 2.01 rad/s, 115˚/s Free from excessive electrical noise (plasma)
Maximum U -axis (upper arm) 2.18 rad/s, 125˚/s Power Requirements*2 5.0 kVA
Speed R -axis (wrist roll) 3.18 rad/s, 182˚/s
*1 : Conforms to ISO 9283.
B -axis (wrist pitch/yaw) 3.05 rad/s, 175˚/s *2 : Varies in accordance with applications and motion patterns.
Note : SI units are used for specifications.
T -axis (wrist twist) 4.63 rad/s, 265˚/s

16
 MOTOMAN-MH215
215 kg payload, R2912 mm maximum reach

Dimensions Units : mm : P-point Maximum Envelope

Tapped holes M8
(4 holes) (Depth: 15)
180˚ Tapped holes M5
Tapped holes M10
344 92 (2 holes) (Depth: 10)
(6 holes) (Depth: 12)
2 8

92
R291

di
120

16 60
dia.

a.
125

dia.
133
73

45
8

180 -0.025
Tapped

0
R608
410

holes M10
27.5
12.5

(6 holes)
(Depth: 12)

dia.
255 40 Tapped holes M6 10 +0.015
0 dia. 9 +0.015
0 dia.

+0.030
(2 holes) (Depth: 12) (2 holes) (2 holes)
9

0
Tapped holes M8 (Depth: 8) (Depth: 8)
9

180˚
R8

63
(4 holes) (Depth: 15)
View A

Connector for internal user

I/O wiring harness (base side):
5133 JL05-2A24-28PC (with cap)
2221 2912 Matching connector: JL05-6A24-28S
(provided by users)
3311

285 1490 250 Air inlet Rc3/8

153

Air inlet Rc3/8

91

U R B with pipe plug (A) with pipe plug (B)

A
250

12.2˚ View B
T
12.2˚ P-Point
25˚ 18˚
42
˚
˚
12.2
1150

76
50

0˚ ˚
2203

1225 6
˚

137.5 893
75 L 1008
640
5

290±0.1 290±0.1
650 540 20 +0.021 dia.
.5˚ 0
509 S 142 (2 holes)
85
650

290±0.1 350±0.1
B
40

236
735
640
540

290±0.1

0 0
77 Tapped holes 177 491 375
M12 290±0.1 290±0.1
(4 holes) C 886
583 353±0.1
(Depth: 24) 22 dia. +0.018
(8 holes) 16 0 dia.
1477

1141

371
739
784

899

1401

(2 holes)
0

View C

Manipulator Specifications
Model MOTOMAN-MH215 R -axis (wrist roll) 1176 N·m
Allowable
Type YR-MH00215-J00 B -axis (wrist pitch/yaw) 1176 N·m
Moment
Controlled Axis 6 (Vertically articulated) T -axis (wrist twist) 710 N·m
Payload 215 kg Allowable R -axis (wrist roll) 317 kg·m2
Repeatability*1 ± 0.2 mm Inertia B -axis (wrist pitch/yaw) 317 kg·m2
S -axis (turning) − 180˚ − +180˚ (GD2/4) T -axis (wrist twist) 200 kg·m2
L -axis (lower arm) − 60˚ − +76˚ Approx. Mass 1140 kg
Range of U -axis (upper arm) − 142.5˚ − +230˚ Temperature 0˚C to +45˚C
Motion R -axis (wrist roll) − 360˚ − +360˚ Humidity 20% to 80%RH (non-condensing)
B -axis (wrist pitch/yaw) − 125˚ − +125˚ Ambient Vibration 4.9 m/s2 or less
T -axis (wrist twist) − 360˚ − +360˚ conditions Free from corrosive gas or liquid, or explosive gas or liquid
S -axis (turning) 1.75 rad/s, 100˚/s Others Free from exposure to water, oil, or dust
L -axis (lower arm) 1.57 rad/s, 90˚/s Free from excessive electrical noise (plasma)
Maximum U -axis (upper arm) 1.69 rad/s, 97˚/s Power Requirements*2 5.0 kVA
Speed R -axis (wrist roll) 2.09 rad/s, 120˚/s
*1 : Conforms to ISO 9283.
B -axis (wrist pitch/yaw) 2.09 rad/s, 120˚/s *2 : Varies in accordance with applications and motion patterns.
Note : SI units are used for specifications.
T -axis (wrist twist) 3.32 rad/s, 190˚/s

17
 MOTOMAN-MH225
225 kg payload, R2702 mm maximum reach

Dimensions Units : mm : P-point Maximum Envelope

Tapped holes M8 (4 holes) 10 +0.015

0 dia.
344 92
R5

(2 holes)
(Depth: 14)
9 (Depth: 8) 9 +00.015 dia.
15

16 60 Tapped holes M5 (2 holes)

255 40 (2 holes) (Depth: 8)
(Depth: 9)
ia.
45

92 d

125
dia.
R2702
12.5
120

27.5

Tapped holes M10

dia.

dia.
(6 holes)
Tapped holes M6 (2 holes) (Depth: 14)

63 +0.030

180 -0.025
(Depth: 11)

0
10 30 Tapped holes M10
R7

Tapped holes M8 (4 holes) (6 holes)

13

(Depth: 14) (Depth: 14)

View A
Air inlet Rc3/8
970 2702 with pipe plug
3061

250
325 1225 (275) 344
153

2450
U R B 220
90
Connector for internal user
A I/O wiring harness (base side):
60
300

JL05-2A24-28PC (with cap)

T Matching connector: JL05-6A24-28S
P-point (provided by users)
76

View B
2253

4 11
L R2
1150
4

957 22 dia.
450 290 (8 holes)
Tube for fieldbus cable 928
(I.D12 dia. ) 500 20 +0.021
0 dia.
(on S-head) 420 (2 holes)
19

147 598 25±0.10

185 0.1185 0.1

407
650

B S
500
420
320

9
1441

276 349
713

Tube for fieldbus cable

562
577
709

762

C 332
(I.D12 dia.) (in base)
230±0.1 230±0.1
295±0.1

View C

Manipulator Specifications
Model MOTOMAN-MH225 R -axis (wrist roll) 1372 N·m
Allowable
Type YR-MS210/MH225-A00 B -axis (wrist pitch/yaw) 1372 N·m
Moment
Controlled Axis 6 (Vertically articulated) T -axis (wrist twist) 735 N·m
Payload 225 kg Allowable R -axis (wrist roll) 145 kg·m2
Repeatability*1 ± 0.2 mm Inertia B -axis (wrist pitch/yaw) 145 kg·m2
S -axis (turning) − 180˚ − +180˚ (GD2/4) T -axis (wrist twist) 84 kg·m2
L -axis (lower arm) − 60˚ − +76˚ Approx. Mass 1000 kg
Range of U -axis (upper arm) − 147˚ − +90˚ Temperature 0˚C to +45˚C
Motion R -axis (wrist roll) − 360˚ − +360˚ Humidity 20% to 80%RH (non-condensing)
B -axis (wrist pitch/yaw) − 125˚ − +125˚ Ambient Vibration 4.9 m/s2 or less
T -axis (wrist twist) − 360˚ − +360˚ conditions Free from corrosive gas or liquid, or explosive gas or liquid
S -axis (turning) 2.09 rad/s, 120˚/s Others Free from exposure to water, oil, or dust
L -axis (lower arm) 1.69 rad/s, 97˚/s Free from excessive electrical noise (plasma)
Maximum U -axis (upper arm) 2.01 rad/s, 115˚/s Power Requirements*2 5.0 kVA
Speed R -axis (wrist roll) 2.53 rad/s, 145˚/s
*1 : Conforms to ISO 9283.
B -axis (wrist pitch/yaw) 2.53 rad/s, 145˚/s *2 : Varies in accordance with applications and motion patterns.
Note : SI units are used for specifications.
T -axis (wrist twist) 3.84 rad/s, 220˚/s

18
 MOTOMAN-MH250
250 kg payload, R2710 mm maximum reach

Dimensions Units : mm : P-point Maximum Envelope

180˚ Tapped holes M8

344 92 (4 holes) Tapped holes M10
(Depth: 15) 8 (6 holes)
92 (Depth: 12)
Tapped holes M5 dia
120
16 60 (2 holes) . dia.
R2710 125

dia.
133

(Depth: 10)
8
45
73

180 -0.025
Tapped holes

0
R608 M10
12.5
27.5

(6 holes)
410

(Depth: 12)

dia.
10 +0.015 dia. 9 +0.015
4

dia.
0

0 0
Tapped holes M6
R8

(2 holes) (2 holes)

+0.030
255 40 (2 holes) (Depth: 8) (Depth: 8)

0
(Depth: 12)

63
180˚ Tapped holes M8 View A
(4 holes)
(Depth: 15) Connector for internal user
I/O wiring harness (base side):
JL05-2A24-28PC (with cap)
Matching connector: JL05-6A24-28S
4730 (provided by users)
2020 2710
Air inlet Rc3/8
3109 with pipe plug (A)

491 375
153

285 1285 250

U R B
Air inlet Rc3/8
250

A
91

with pipe plug (B)

12.2˚ T
12.2˚ P-Point View B
18˚
42˚

25˚
50˚

˚
12.2
1150

˚ 76
1225 60 L ˚
2203

137.5 1070
75 893
.5˚

640
5

290±0.1 290±0.1
142

647 20 +0.021
650

597 540 dia.

85

0
440 (2 holes)
S
290±0.1 350±0.1
290±0.1
40

80 B
735
640
540

0 0
52 441 375
Tapped holes M12 C 381
(4 holes)
290±0.1 290±0.1
1345

989

534
589
759
801
804

1401

(Depth: 24)
353±0.1
22 dia. 16 +0.018
0 dia.
(8 holes) (2 holes)

View C
Manipulator Specifications
Model MOTOMAN-MH250 R -axis (wrist roll) 1385 N·m
Allowable
Type YR-MH00250-J00 B -axis (wrist pitch/yaw) 1385 N·m
Moment
Controlled Axis 6 (Vertically articulated) T -axis (wrist twist) 735 N·m
Payload 250 kg Allowable R -axis (wrist roll) 317 kg·m2
Repeatability*1 ± 0.2 mm Inertia B -axis (wrist pitch/yaw) 317 kg·m2
S -axis (turning) − 180˚ − +180˚ (GD2/4) T -axis (wrist twist) 200 kg·m2
L -axis (lower arm) − 60˚ − +76˚ Approx. Mass 1130 kg
Range of U -axis (upper arm) − 142.5˚ − +230˚ Temperature 0˚C to +45˚C
Motion R -axis (wrist roll) − 360˚ − +360˚ Humidity 20% to 80%RH (non-condensing)
B -axis (wrist pitch/yaw) − 125˚ − +125˚ Ambient Vibration 4.9 m/s2 or less
T -axis (wrist twist) − 360˚ − +360˚ conditions Free from corrosive gas or liquid, or explosive gas or liquid
S -axis (turning) 1.75 rad/s, 100˚/s Others Free from exposure to water, oil, or dust
L -axis (lower arm) 1.57 rad/s, 90˚/s Free from excessive electrical noise (plasma)
Maximum U -axis (upper arm) 1.69 rad/s, 97˚/s Power Requirements*2 6.0 kVA
Speed R -axis (wrist roll) 2.09 rad/s, 120˚/s
*1 : Conforms to ISO 9283.
B -axis (wrist pitch/yaw) 2.09 rad/s, 120˚/s *2 : Varies in accordance with applications and motion patterns.
Note : SI units are used for specifications.
T -axis (wrist twist) 3.32 rad/s, 190˚/s

19
 MOTOMAN-MH280
280 kg payload, R2446 mm maximum reach

Dimensions Units : mm : P-point Maximum Envelope

Tapped holes M10
Tapped holes M8 (6 holes)
344 92 (4 holes) 92 (Depth: 12)
8 di
16 60 (Depth: 15) a.
.
dia
R8

Tapped holes M5
120

(2 holes) 125
47

133

(Depth: 10) 8
45
Tapped
73

holes M10
(6 holes)
R608 (Depth: 12)
410

dia.
dia.
27.5
491

R2446 10 +0.015
0 dia. 9 +0.015 dia.
0
12.5

63 +0.030
(2 holes)

180 -0.025
(2 holes)
(Depth: 8) (

0
0
Tapped holes M6 Depth: 8)
(2 holes)
(Depth: 10) View A
255 40
Tapped holes M8 Connector for internal user
(4 holes) I/O wiring harness (base side):
(Depth: 15) JL05-2A24-28PC (with cap)
Matching connector: JL05-6A24-28S
(provided by users)

4202 Connector for internal user Tube for fieldbus cable

1756 2446 (I.D12 dia.) (in base)
I/O wiring harness(casing side):
2845 JL05-2A24-28SC (with cap)
Matching connector: FB

JL05-6A24-28P AIR-A

2BC
AIR-B

1BC
S1

(provided by users)
285 1015 250 491 340
153

U R B Air inlet PT3/8

A Air inlet PT3/8 with pipe plug (B)
with pipe plug (A)
250

T
P-point View B
42

25 18 893
20 +0.021
50

640 dia.
1150

0
76 290±0.1 290±0.1 (2 holes)
2203

1225 60 1153
L 540
137.5
75 861

290±0.1 350±0.1
828
5

290±0.1
709
.5
142 455
640
540
735
650

85

287
B 112
40

S 0
0
Tapped 117
Tube for holes M12 C 290±0.1 290±0.1
fieldbus cable (4 holes) 353±0.1
1172

748
332
744

787
846

1401
788

(I.D12 dia.) (Depth: 24) Tube for fieldbus cable

0

(in base) (I.D12 dia.) (in protective tubing) 22 dia.

(8 holes) 16 +0.018
0 dia.
(2 holes)
View C
Manipulator Specifications
Model MOTOMAN-MH280 R -axis (wrist roll) 1333 N·m
Allowable
Type YR-MH00280-J00 B -axis (wrist pitch/yaw) 1333 N·m
Moment
Controlled Axis 6 (Vertically articulated) T -axis (wrist twist) 706 N·m
Payload 280 kg Allowable R -axis (wrist roll) 142 kg·m2
Repeatability*1 ± 0.2 mm Inertia B -axis (wrist pitch/yaw) 142 kg·m2
S -axis (turning) − 180˚ − +180˚ (GD2/4) T -axis (wrist twist) 79 kg·m2
L -axis (lower arm) − 60˚ − +76˚ Approx. Mass 1120 kg
Range of U -axis (upper arm) − 142.5˚ − +230˚ Temperature 0˚C to +45˚C
Motion R -axis (wrist roll) − 360˚ − +360˚ Humidity 20% to 80%RH (non-condensing)
B -axis (wrist pitch/yaw) − 125˚ − +125˚ Ambient Vibration 4.9 m/s2 or less
T -axis (wrist twist) − 360˚ − +360˚ conditions Free from corrosive gas or liquid, or explosive gas or liquid
S -axis (turning) 1.57 rad/s, 90˚/s Others Free from exposure to water, oil, or dust
L -axis (lower arm) 1.39 rad/s, 80˚/s Free from excessive electrical noise (plasma)
Maximum U -axis (upper arm) 1.57 rad/s, 90˚/s Power Requirements*2 5.0 kVA
Speed R -axis (wrist roll) 2.01 rad/s, 115˚/s
*1 : Conforms to ISO 9283.
B -axis (wrist pitch/yaw) 1.92 rad/s, 110˚/s *2 : Varies in accordance with applications and motion patterns.
Note : SI units are used for specifications.
T -axis (wrist twist) 3.32 rad/s, 190˚/s

20
 MOTOMAN-MH400
400 kg payload, R2942 mm maximum reach

Dimensions Units : mm : P-point Maximum Envelope

Tapped holes M8
(2 holes) Tapped holes M8 Tapped
(Depth: 15) 180 (4 holes) holes M12
445 9
143.5
(Depth: 15) 15 (12 holes)
R1 (Depth: 25)
3 16.5 822 100

dia.
71 ia.
250 d

0 dia.
Tapped holes M8

315 -0.081
160 +0.040
(4 holes)
60

0
100

(Depth: 15)

12 +0.018
0 dia.
R2942 (1 hole)
R821
70

(Depth:15)
180 View A
0 30 Connector for internal user
R1 I/O wiring harness (base side):
Tapped holes M4 JL05-2A28-21PC (with cap)
(4 holes) (Depth: 3) Matching connector:
(Pitch: 0.7) JL05-6A28-21S
32 (provided by users)

32
S1
FB

AIR
1BC

A A
2BC 3BC

989 1849 2565

0

A A

500 1605 300 Air inlet Rc3/8

2683 Cover for fieldbus cable with pipe plug
(1674) (I.D12 dia.) (in base)
U R B 2401
View B
250 260

2236

T A
222 22 dia.
18

61 1498 (8 holes)
P-point
49
43 1409 786
1050

55
50 540 50
L
R1420
3

290±0.1 290±0.1
11

3
11
20 +0.021

290±0.1
900 dia.

50
0
(2 holes)
16 +0.018 dia.
202

0
(2 holes)
900

540
14
B 0
290±0.1

S 609 680
50

550 400
215
Tube for
290± 0.1 290±0.1
fieldbus cable
0

(I.D12 dia.) C 796 1164 1371 2942

922 1318 550
(in base)
View C

Manipulator Specifications
Model MOTOMAN-MH400 R -axis (wrist roll) 2989 N·m
Allowable
Type YR-MH00400-J00 B -axis (wrist pitch/yaw) 2989 N·m
Moment
Controlled Axis 6 (Vertically articulated) T -axis (wrist twist) 1343 N·m
Payload 400 kg Allowable R -axis (wrist roll) 500 kg·m2
Repeatability*1 ± 0.3 mm Inertia B -axis (wrist pitch/yaw) 500 kg·m2
S -axis (turning) − 180˚ − +180˚ (GD2/4) T -axis (wrist twist) 315 kg·m2
L -axis (lower arm) − 55˚ − +61˚ Approx. Mass 2700 kg
Range of U -axis (upper arm) − 113˚ − +18˚ Temperature 0˚C to +45˚C
Motion R -axis (wrist roll) − 360˚ − +360˚ Humidity 20% to 80%RH (non-condensing)
B -axis (wrist pitch/yaw) − 115˚ − +115˚ Ambient Vibration 4.9 m/s2 or less
T -axis (wrist twist) − 360˚ − +360˚ conditions Free from corrosive gas or liquid, or explosive gas or liquid
S -axis (turning) 1.78 rad/s, 102˚/s Others Free from exposure to water, oil, or dust
L -axis (lower arm) 1.69 rad/s, 97˚/s Free from excessive electrical noise (plasma)
Maximum U -axis (upper arm) 1.69 rad/s, 97˚/s Power Requirements*2 7.0 kVA
Speed R -axis (wrist roll) 1.40 rad/s, 80˚/s
*1 : Conforms to ISO 9283.
B -axis (wrist pitch/yaw) 1.40 rad/s, 80˚/s *2 : Varies in accordance with applications and motion patterns.
Note : SI units are used for specifications.
T -axis (wrist twist) 3.00 rad/s, 172˚/s

21
 MOTOMAN-UP400RD
400 kg payload, R3518 mm maximum reach

Dimensions Units : mm : P-point Maximum Envelope

150˚ 14 dia. (8 holes)

15˚ 15˚
60
4 ˚
12 +00.018 dia.

18 ˚
60
225
18 dia
.
R35 dia.

dia.
200

dia.
250 -0.072

30˚
160 +0.063

30˚
0
0

˚
60
60
˚
30˚
Tapped holes M12
47 12 +0.018
0 dia. (6 holes)
8 (1 hole)
R1 (Depth: 20)
(Depth: 20)

View A
Tapped holes M4 (4 holes)
(Depth: 3) (Pitch: 0.7)
150˚
Air inlet PT3/8

32
with pipe plug (A) 32 Cover for
fieldbus cable
FB
(I.D12 dia.)
AIR A AIR B
S1
(in base)
3384 1BC
2BC

A B
3BC

3217
Air inlet PT3/8
with pipe plug (B)
280 1100 250 260 Connector for internal user
67˚ 73˚ I/O wiring harness (base side):
676 811
30˚

JL05-2A28-21PC (with cap)

Tapped holes M8 Matching connector: JL05-6A28-21S
122 (2 holes)
˚ (provided by users)
725

1933 (Depth: 15)

16.5

˚
21 Tapped holes M8 View B
21˚ 70 (4 holes)
S
500

423

L 140 935
(Depth: 15)
350±0.2

1000 760
848 640
965.5
143.5
1000

100 410±0.2 435±0.1

˚
20

U
1495.5
2135
10

B ˚ 28 dia.
99
1˚

0 (12 holes)
C 195
Tapped 16 +0.018
0 dia.
94 60 (2 holes)
holes M8
860
760
640

R
350±0.2

Tube for (1 hole)

P-point (Depth: 15)
100

fieldbus cable
(I.D12 dia.) B 1148
255

(in base) Tapped holes M8

T (4 holes) 410±0.2
435±0.1

1524
5

A (Depth: 15)
0

743

1227
1293
1421
1553
1847
2004

3518

View C

Manipulator Specifications
Model MOTOMAN-UP400RD R -axis (wrist roll) 1960 N·m
Allowable
Type YR-UP400RD-J00 B -axis (wrist pitch/yaw) 1960 N·m
Moment
Controlled Axis 6 (Vertically articulated) T -axis (wrist twist) 833 N·m
Payload 400 kg Allowable R -axis (wrist roll) 150 kg·m2
Repeatability*1 ± 0.5 mm Inertia B -axis (wrist pitch/yaw) 150 kg·m2
S -axis (turning) − 150˚ − +150˚ (GD2/4) T -axis (wrist twist) 50 kg·m2
L -axis (lower arm) − 122˚ − +20˚ Approx. Mass 3600 kg
Range of U -axis (upper arm) − 9˚ − +120˚ Temperature 0˚C to +45˚C
Motion R -axis (wrist roll) − 360˚ − +360˚ Humidity 20% to 80%RH (non-condensing)
B -axis (wrist pitch/yaw) − 120˚ − +120˚ Ambient Vibration 4.9 m/s2 or less
T -axis (wrist twist) − 360˚ − +360˚ conditions Free from corrosive gas or liquid, or explosive gas or liquid
S -axis (turning) 1.40 rad/s, 80˚/s Others Free from exposure to water, oil, or dust
L -axis (lower arm) 1.40 rad/s, 80˚/s Free from excessive electrical noise (plasma)
Maximum U -axis (upper arm) 1.40 rad/s, 80˚/s Power Requirements*2 8.5 kVA
Speed R -axis (wrist roll) 1.40 rad/s, 80˚/s
*1 : Conforms to ISO 9283.
B -axis (wrist pitch/yaw) 1.40 rad/s, 80˚/s *2 : Varies in accordance with applications and motion patterns.
Note : SI units are used for specifications.
T -axis (wrist twist) 2.79 rad/s, 160˚/s

22
 MOTOMAN-MH600
600 kg payload, R2942 mm maximum reach

Dimensions Units : mm : P-point Maximum Envelope

Tapped holes M8 (2 holes) 143.5 Tapped

(Depth: 15) Tapped holes M8 holes M12
180 (4 holes) (12 holes)
445 (Depth: 15) 8
15 (Depth: 25)
16.5 822 100
R1
37

dia.
ia.
250 d
1

0 dia.
Tapped holes M8

315 -0.081
160 +0.040
(4 holes)
100

0
60
(Depth: 15)

12 +0.018
0 dia.
R2942 (1 hole)
R892
70

(Depth:15)
180
View A
Connector for internal user
I/O wiring harness (base side):
4
05

JL05-2A28-21PC (with cap)

R1

Matching connector: JL05-6A28-21S

(provided by users)
1849

2565
989

32
0

32
500 1605 300 FB
S1

(1674) 2683 Tapped holes M4 Air inlet Rc3/8

A A
R B (4 holes) with pipe plug
U
250 260

2401 (Depth: 3)
2236 Cover for
T A fieldbus cable
222
18

61 (I.D12 dia.) (in base)

49 P-point 1498
43 View B
1050

55
L 1409
R1420
3
11

3
11 786
900 22 dia.
50 540 50 (8 holes)
+0.021
20 0 dia.
202
900

(2 holes) 290±0.1 290±0.1

50
16 +0.018
0 dia.
S 14 (2 holes) 290±0.1 290±0.1
B
0
280

550 400 696 767 540

215
Tube for
C
fieldbus cable
796
922

2942
1164
1318

1371
0

290±0.1 290±0.1
50

(I.D12 dia.)
(in base)
550

View C

Manipulator Specifications
Model MOTOMAN-MH600 R -axis (wrist roll) 3430 N·m
Allowable
Type YR-MH00600-A00 B -axis (wrist pitch/yaw) 3430 N·m
Moment
Controlled Axis 6 (Vertically articulated) T -axis (wrist twist) 1764 N·m
Payload 600 kg Allowable R -axis (wrist roll) 520 kg·m2
Repeatability*1 ± 0.3 mm Inertia B -axis (wrist pitch/yaw) 520 kg·m2
S -axis (turning) − 180˚ − +180˚ (GD2/4) T -axis (wrist twist) 350 kg·m2
L -axis (lower arm) − 55˚ − +61˚ Approx. Mass 3050 kg
Range of U -axis (upper arm) − 113˚ − +18˚ Temperature 0˚C to +45˚C
Motion R -axis (wrist roll) − 360˚ − +360˚ Humidity 20% to 80%RH (non-condensing)
B -axis (wrist pitch/yaw) − 115˚ − +115˚ Ambient Vibration 4.9 m/s2 or less
T -axis (wrist twist) − 360˚ − +360˚ conditions Free from corrosive gas or liquid, or explosive gas or liquid
S -axis (turning) 1.43 rad/s, 82˚/s Others Free from exposure to water, oil, or dust
L -axis (lower arm) 1.43 rad/s, 82˚/s Free from excessive electrical noise (plasma)
Maximum U -axis (upper arm) 1.43 rad/s, 82˚/s Power Requirements*2 7.5 kVA
Speed R -axis (wrist roll) 1.40 rad/s, 80˚/s
*1 : Conforms to ISO 9283.
B -axis (wrist pitch/yaw) 1.40 rad/s, 80˚/s *2 : Varies in accordance with applications and motion patterns.
Note : SI units are used for specifications.
T -axis (wrist twist) 2.83 rad/s, 162˚/s

23
MOTOMAN-MH, UP Series

Robot Controller DX200 Specifications Programming Pendant Specifications

Items Specifications Items Specifications
Configuration Dust proof IP54 Dimensions 169 (W)×50 (D)×314.5 (H)
MH5S , MH5LS , MH12, MH24, MH24-10, MH50 , Mass 0.990 kg
MH50 -20, MH50 -35, MH80 , MH110, MH180 Material Reinforced plastics
MH180-120, MH215 , MH225, MH250 , MH280 : Select keys, axis keys, numerical/application keys,
Dimensions, 600 (W)×520 (D)×730 (H) mm* Operation
mode selector switch with keys (mode : teach,
Mass (Possible to control three external axes) , 100 kg play, and remote), emergency stop button,
Device
enable switch, compact flash card interface device
MH400 , UP400RD , MH600 600 (W)×640 (D)×730 (H) mm* (compact flash is optional), USB port (1 port)
(Possible to control three external axes) , 110 kg 5.7-inch color LCD, touch panel 640 480 pixels
Cooling System Indirect cooling Display (Alphanumeric characters, Chinese characters,
Ambient During operation : 0˚C to +45˚C Japanese letters, Others)
Temperature During storage : −10˚C to +60˚C IEC Protection Class IP65
Relative Humidity 90% max. (non-condensing) Standard : 8 m,
Cable Length
Three-phase 200 VAC (+10%, 15%), 50/60 Hz (±2%) Max. : 36 m (with optional extension cable)
Power Supply
Three-phase 220 VAC (+10%, 15%), 60 Hz (±2%)
Grounding Grounding resistance : 100 or less
Specialized signals 28 inputs and 7 outputs
Digital I/Os General signals 40 inputs and 40 outputs
Max. I/O (optional) : 4096 inputs and 4096 outputs
Positioning System Serial communications (absolute encoder)
Programming JOB : 200,000 steps, 10,000 instructions
Capacity CIO ladder : 20,000 steps
Expansion Slots PCI : 2 slots
LAN
(Connection to Host) 1 (10BASE-T/100BASE-TX)
Interface RS-232C : 1ch
Control Method Software servo control
SERVOPACK for AC servomotors
Drive Units
(can control up to 9 axes)

* : Dimensions of the controller only. Does not include any attachments.

Sales Department YASKAWA India Private Ltd. (Robotics Division)

#426, Udyog Vihar Phase-IV, Gurgaon, Haryana, India
HEAD OFFICE Phone: +91-124-475-8500 Fax: +91-124-475-8542
2-1 Kurosaki-Shiroishi, Yahatanishi-ku, Kitakyushu, Fukuoka 806-0004, Japan
Phone: +81-93-645-7703 Fax: +81-93-645-7802 YASKAWA Electric Korea Corporation
35F, Three IFC, 10 Gukjegeumyung-ro, Yeongdeungpo-gu, Seoul, Korea 07326
YASKAWA America, Inc. (Motoman Robotics Division) Phone: +82-2-784-7844 Fax: +82-2-784-8495
100 Automation Way, Miamisburg, OH 45342, U.S.A.
Phone: +1-937-847-6200 Fax: +1-937-847-6277 YASKAWA Electric Taiwan Corporation
12F, No.207, Sec. 3, Beishin Rd., Shindian District, New Taipei City 23143, Taiwan
YASKAWA Europe GmbH (Robotics Division) Phone: +886-2-8913-1333 Fax: +886-2-8913-1513
Yaskawastrasse 1, 85391, Allershausen, Germany
Phone: +49-8166-90-100 Fax: +49-8166-90-103 YASKAWA Electric (Singapore) PTE Ltd
151 Lorong Chuan, #04-02A New Tech Park, Singapore 556741
YASKAWA Nordic AB Phone: +65-6282-3003 Fax: +65-6289-3003
Verkstadsgatan 2, Box 504 ,SE-385 25 Torsas, Sweden
Phone: +46-480-417-800 Fax: +46-486-414-10 YASKAWA Electric (Thailand) Co., Ltd.
59, 1st-5th Floor, Flourish Building, Soi Ratchadapisek 18,
YASKAWA Electric (China) Co., Ltd. Ratchadapisek Road, Huaykwang, Bangkok 10310, Thailand
22F, One Corporate Avenue, No.222 Hubin Road, Huangpu District, Shanghai 200021, China Phone: +66-2-017-0099 Fax: +66-2-017-0199
Phone: +86-21-5385-2200 Fax: +86-21-5385-3299
PT. YASKAWA Electric Indonesia
YASKAWA SHOUGANG ROBOT CO., LTD. Secure Building-Gedung B Lantai Dasar & Lantai 1 Jl. Raya Protokol Halim Perdanakusuma,
No.7 Yongchang North Road, Beijing E&T Development Area China 100176 Jakarta 13610, Indonesia
Phone: +86-10-6788-2858 Fax: +86-10-6788-2878 Phone: +62-21-2982-6470 Fax: +62-21-2982-6471

In the event that the end user of this product is to be the military and said product is to
be employed in any weapons systems or the manufacture thereof, the export will fall
under the relevant regulations as stipulated in the Foreign Exchange and Foreign
Trade Regulations. Therefore, be sure to follow all procedures and submit all relevant
documentation according to any and all rules, regulations and laws that may apply.
Specifications are subject to change without notice for ongoing product modifications
and improvements.
© 2009 YASKAWA ELECTRIC CORPORATION

LITERATURE NO. KAEP C940440 22L <17>-0

Published in Japan September 2017
16-8-43