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PACKING OPERATIONS
MH6-SERIES
MH6 MH6S MH6-10
Assembly DISPENSING MACHINE TENDING
MATERIAL HANDLING PACKAGING WELDING
Payload:
6 kg (MH6 and MH6S)
10 kg (MH6-10)
investment
DX100 Controller
n Patented multiple robot control supports
up to 8 robots/72 axes.
n Windows CE programming pendant with
color touch screen and USB interface.
n Faster processing speeds for smoother
interpolation. Quicker I/O response.
Accelerated Ethernet communication.
n Extensive I/O suite includes integral PLC
and touch screen HMI, 2,048 I/O and
graphical ladder editor.
n Supports all major fieldbus networks,
including EtherNet/IP, DeviceNet, Profibus-DP
and many others.
n Compliant to ANSI/RIA R15.06-1999 and
other relevant ISO and CSA safety
standards. Optional Category 3 functional
safety unit.
MH6/MH6S/MH6-10 Robots
R1422
R381
170
1422
1122
150
75
150
640
155
R270
170
614
1294
POINT P
95
1722
6
45
INTERNAL USER
AIR LINE 3/8 PT
(WITH PLUG)
450
4X M6 X 1 : 6 mm DP
6
25
50
PCD40
INTERNAL USER
AIR LINE 3/8 PT
(WITH PLUG)
6 : 6 mm DP
VIEW A
300
260
240
132
60
4X 18 THRU
300 292 260
INTERNAL USER CABLE CONNECTOR
JL05-2A20-29PC (WITH CAP)
MATING CONNECTOR WILL NOT BE SUPPLIED, BUT COMPLETE
CABLES ARE AVAILABLE AS AN OPTION
102
153
POINT P
WORKING RANGE
130
60
VIEW B
764
12 THRU
102
153
100
132
2X 16 THRU
VIEW C
Robot SPECIFICATiONS
Structure
MH6
MH6S
MH6-10
Dimensions (mm)
Articulated
Articulated
Articulated
Approximate Mass
Controlled Axes
Cooling System
Indirect cooling
Payload
6 kg (13.2 lbs)
6 kg (13.2 lbs)
10 kg (22.1 lbs)
2,486 mm (97.9")
1,597 mm (62.9")
2,486 mm (97.9")
Ambient
Temperature
Horizontal Reach
1,422 mm (56")
997 mm (39.3")
1,422 mm (56")
Relative Humidity
Repeatability
Vertical Reach
Maximum
Motion
Range
Maximum
Speed
S-Axis (Turning)
L-Axis (Lower Arm)
U-Axis (Upper Arm)
R-Axis (Upper Arm Twist)
B-Axis (Pitch/Yaw)
T-Axis (Twist)
170
+155/-90
+250/-175
180
+225/-45
360
170
+133/-80
+165/-130
180
+225/-45
360
170
+155/-90
+250/-175
180
+225/-45
360
S-Axis
L-Axis
U-Axis
R-Axis
B-Axis
T-Axis
220/s
200/s
220/s
410/s
410/s
610/s
220/s
220/s
220/s
410/s
410/s
610/s
140/s
130/s
135/s
270/s
270/s
400/s
Approximate Mass
Power Consumption
1.5 kVA
1.5 kVA
1.5 kVA
Allowable
Moment
11.8 N m
9.8 N m
5.9 N m
11.8 N m
9.8 N m
5.9 N m
12.2 N m
14.2 N m
7.3 N m
Allowable R-Axis
Moment of B-Axis
Inertia
T-Axis
0.27 kg m2
0.27 kg m2
0.06 kg m2
0.27 kg m2
0.27 kg m2
0.06 kg m2
0.24 kg m2
0.21 kg m2
0.06 kg m2
16 conductors
+ ground
16 conductors
+ ground
16 conductors
+ ground
(2) 3/8" PT
connections
(1)3/8" PT
connection
(2) 3/8" PT
connections
R-Axis
B-Axis
T-Axis
Primary Power
Requirements
Digital I/O
NPN-Standard
PNP-Optional
Position Feedback
By absolute encoder
Program Memory
Pendant Weight
Interface
Pendant Playback
Buttons
Programming Language
Maintenance Functions
Number of Robots/Axes
Up to 8 robots, 72 axes
Multi Tasking
Fieldbus
Ethernet
Safety
www.motoman.com
TECHNICAL SPECIFICATIONS SUBJECT TO CHANGE WITHOUT NOTICE
DS-396-g 2011 Yaskawa america, inc. june 2011
Motoman robotics
100 automation way, Miamisburg, OHIO 45342
Tel: 937.847.6200 n FAX: 937.847.6277