MH12

MOTOMAN-MH12
INSTRUCTIONS
TYPE:
YR-MA1440/MH12-A00 (STANDARD SPECIFICATION)
Upon receipt of the product and prior to initial operation, read these instructions thoroughly, and retain
for future reference.
MOTOMAN INSTRUCTIONS
MOTOMAN-MH12 INSTRUCTIONS
DX200 INSTRUCTIONS
DX200 OPERATORS MANUAL (for each purpose)
DX200 MAINTENANCE MANUAL
FS100 INSTRUCTIONS
FS100 OPERATORS MANUAL
FS100 MAINTENANCE MANUAL
The DX200/ FS100 operators manual above corresponds to specific usage. Be sure to use the appropriate manual.
Part Number:
Revision:
167105-1CD
2
MANUAL NO.
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Copyright 2016, 2015, 2013 Yaskawa America, Inc.

Terms of Use and Copyright Notice
All rights reserved. This manual is freely available as a service to Yaskawa
customers to assist in the operation of Motoman robots, related equipment
and software This manual is copyrighted property of Yaskawa and may
not be sold or redistributed in any way. You are welcome to copy this
document to your computer or mobile device for easy access but you may
not copy the PDF files to another website, blog, cloud storage site or any
other means of storing or distributing online content.
Printed in the United States of America
First Printing, 2016
Yaskawa America, Inc.
Motoman Robotics Division
100 Automation Way
Miamisburg, OH 45342
Phone: 937-847-6200
www.motoman.com
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MANDATORY
This instruction manual is intended to explain mainly on the

mechanical part of the MOTOMAN-MH12 for the application to the
actual operation and for proper maintenance and inspection. It
describes on safety and handling, details on specifications,
necessary items on maintenance and inspection, to explain
operating instructions and maintenance procedures. Be sure to
read and understand this instruction manual thoroughly before
installing and operating the manipulator.
General items related to safety are listed in Chapter 1: Safety of the

DX200/FS100 Instructions. To ensure correct and safe operation,
carefully read the DX200/FS100 Instructions before reading this
manual.
CAUTION
Some drawings in this manual are shown with the protective covers
or shields removed for clarity. Be sure all covers and shields are
replaced before operating this product.
The drawings and photos in this manual are representative

examples and differences may exist between them and the
delivered product.
YASKAWA may modify this model without notice when necessary

due to product improvements, modifications, or changes in
specifications.
If such modification is made, the manual number will also be

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

representative to order a new copy. The representatives are listed
on the back cover. Be sure to tell the representative the manual
number listed on the front cover.
YASKAWA is not responsible for incidents arising from unauthorized

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

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

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

result in death or serious injury to
personnel.
CAUTION
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.
Always be sure to follow explicitly the
MANDATORY items listed under this heading.
PROHIBITED
Must never be performed.
Even items described as CAUTION may result in a serious accident in

some situations.
At any rate, be sure to follow these important items.
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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<DX200>
WARNING
Before operating the manipulator, check that servo power is turned

OFF pressing the emergency stop buttons on the front door of the
DX200 and the programming pendant.
When the servo power is turned OFF, the SERVO ON LED on the
programming pendant is turned OFF.
Injury or damage to machinery may result if the emergency stop circuit

cannot stop the manipulator during an emergency. The manipulator
should not be used if the emergency stop buttons do not function.
Figure 1: 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.

Figure 2: 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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<FS100>
WARNING
Before operating the manipulator, check that servo power is turned

OFF when the emergency stop button on the programming pendant
is pressed.
When the servo power is turned OFF, the SERVO ON LED on the
programing pendant is turned OFF.
Injury or damage to machinery may result if the emergency stop circuit

cannot stop the manipulator during an emergency. The manipulator
should not be used if the emergency stop button does not function.
Figure 3: Emergency Stop Button
In the case of not using the programming pendant, be sure to

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

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

Figure 4: Release of Emergency Stop Button
TURN
Observe the following precautions when performing teaching

operations within the manipulators operating range:
Be sure to use a lockout device to the safeguarding when going
inside. Also, display the sign that the operation is being
performed inside the safeguarding and make sure no one closes
the safeguarding.
View the manipulator from the front whenever possible.
Always follow the predetermined operating procedure.
Ensure that you have a safe place to retreat in case of
emergency.
Improper or unintended manipulator operation may result in injury.
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WARNING
Confirm that no person is present in the manipulators operating

range and that you are in a safe location before:
Turning ON the power for the FS100.
Moving the manipulator with the programming pendant.
Running the system in the check mode.
Performing automatic operations.
Injury may result if anyone enters the manipulators operating range

during operation. Always press an emergency stop button immediately
if there are problems.
The emergency stop button is located on the programing pendant.
CAUTION
Perform the following inspection procedures prior to conducting

manipulator teaching. If problems are found, repair them
immediately,
and be sure that all other necessary processing has been
performed.
Check for problems in manipulator movement.
Check for damage to insulation and sheathing of external wires.
Always return the programming pendant to the hook on the cabinet

of the DX200/FS100 after use.
The programming pendant can be damaged if it is left in the

manipulator's work area, on the floor, or near fixtures.
Read and understand the Explanation of Warning Labels in the

DX200/FS100 Instructions before operating the manipulator:
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Definition of Terms Used In this Manual (DX200)
Definition of Terms Used In this Manual (DX200)

The MOTOMAN is the YASKAWA industrial robot product.
The MOTOMAN usually consists of the manipulator, the controller, the
programming pendant, and supply cables.
In this manual, the equipment is designated as follows:
Equipment
Manual Designation
DX200 controller
DX200
DX200 programming pendant
Programming pendant
Cable between the manipulator and the

controller
Manipulator cable
Definition of Terms Used In this Manual (FS100)

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

the controller
Manipulator Cable
FS100 programming pendant

dummy connector
Programming pendant
dummy connector
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
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.
Figure 5: Warning Label Locations
WARNING Label B
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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Customer Support Information

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

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

urgent or emergency need for service, replacement parts,
or information, you must contact Motoman Customer
Support at the telephone number shown above.
Please have the following information ready before you call Customer
Support:
System
MH12
Primary Application
___________________________
Controller
DX200/ FS100
Software Version
Access this information on the

Programming Pendants LCD
display screen by selecting {MAIN
MENU} - {SYSTEM INFO} {VERSION}
Robot Serial Number
Located on the robot data plate
Robot Sales Order Number
Located on the DX200/ FS100

controller data plate
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Table of Contents
Table of Contents
1 Product Confirmation ...................................................................................................................... 1-1
1.1 Contents Confirmation ....................................................................................................... 1-1
1.2 Order Number Confirmation .............................................................................................. 1-2
2 Transport......................................................................................................................................... 2-1
2.1 Transport Method .............................................................................................................. 2-1
2.1.1 Using a Crane ...................................................................................................... 2-2
2.1.2 Using a Forklift...................................................................................................... 2-2
2.2 Shipping Bolts and Brackets.............................................................................................. 2-3
2.3 Cushioning Material for Transport ..................................................................................... 2-4
3 Installation....................................................................................................................................... 3-1
3.1 Safeguarding Installation ................................................................................................... 3-2
3.2 Mounting Procedures for Manipulator Base ...................................................................... 3-2
3.2.1 Mounting Example................................................................................................ 3-4
3.3 Types of Mounting ............................................................................................................. 3-5
3.3.1 S-Axis Operating Range....................................................................................... 3-5
3.3.2 Fixing the Manipulator Base ................................................................................. 3-5
3.3.3 Precautions to Prevent the Manipulator from Falling............................................ 3-5
3.4 Location ............................................................................................................................. 3-6
4 Wiring.............................................................................................................................................. 4-1
4.1 Grounding .......................................................................................................................... 4-2
4.2 Cable Connection .............................................................................................................. 4-3
4.2.1 Connection to the Manipulator.............................................................................. 4-3
4.2.2 Connection to the DX200/FS100.......................................................................... 4-3
5 Basic Specifications ........................................................................................................................ 5-1
5.1 Basic Specifications........................................................................................................... 5-1
5.2 Part Names and Working Axes.......................................................................................... 5-2
5.3 Manipulator Base Dimensions ........................................................................................... 5-2
5.4 Dimensions and P-Point Maximum Envelope.................................................................... 5-3
5.5 Stopping Angles and Times for S-, L- and U-Axes (DX200).............................................. 5-4
5.5.1 Stop Category 0: Stopping Angles and Times...................................................... 5-4
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5.5.1.1 Position 100% ......................................................................................... 5-4

5.5.1.2 Position 66% ........................................................................................... 5-5
5.5.1.3 Position 33% ........................................................................................... 5-6
5.5.2 Stop Category 1: Stopping Angles and Times...................................................... 5-7
5.5.2.1 Position100% .......................................................................................... 5-7
5.5.2.2 Position 66% ........................................................................................... 5-8
5.5.2.3 Position 33% ........................................................................................... 5-9
5.6 Stopping Angles and Times for S-, L- and U-Axes (FS100) ............................................ 5-10
5.6.1 Stop Category 0: Stopping Angles and Times.................................................... 5-10
5.6.1.1 Position 100% ....................................................................................... 5-10
5.6.1.2 Position 66% ......................................................................................... 5-11
5.6.1.3 Position 33% ......................................................................................... 5-12
5.6.2 Stop Category 1: Stopping Angles and Times.................................................... 5-13
5.6.2.1 Position100% ........................................................................................ 5-13
5.6.2.2 Position 66% ......................................................................................... 5-14
5.6.2.3 Position 33% ......................................................................................... 5-15
5.7 Alterable Operating Range .............................................................................................. 5-16
5.7.1 Components for Altering Operating Range......................................................... 5-16
5.7.2 Notes on the Mechanical Stopper Installation .................................................... 5-17
5.7.3 Adjustment to the Pulse Limitation of S-Axis ...................................................... 5-17
6 Allowable Load for Wrist Axis and Wrist Flange ............................................................................. 6-1
6.1 Allowable Wrist Load ......................................................................................................... 6-1
6.2 Wrist Flange....................................................................................................................... 6-2
7 System Application.......................................................................................................................... 7-1
7.1 Peripheral Equipment Mounts............................................................................................ 7-1
7.1.1 Allowable Load ..................................................................................................... 7-1
7.1.2 Installation Position............................................................................................... 7-1
7.2 Internal User I/O Wiring Harness and Air Line................................................................... 7-2
8 Electrical Equipment Specification .................................................................................................. 8-1
8.1 Position of Limit Switch ...................................................................................................... 8-1
8.2 Position of Servo ON Lamp ............................................................................................... 8-2
8.3 Internal Connections .......................................................................................................... 8-3
9 Maintenance and Inspection ........................................................................................................... 9-1
9.1 Inspection Schedule........................................................................................................... 9-1
9.2 Notes on Maintenance Procedures.................................................................................... 9-5
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9.2.1 Battery Pack Replacement ................................................................................... 9-5

9.3 Notes on Grease Replenishment/Exchange Procedures .................................................. 9-6
9.3.1 Grease Replenishment/Exchange for S-Axis Speed Reducer ............................. 9-7
9.3.1.1 Grease Replenishment............................................................................ 9-7
9.3.1.2 Grease Exchange ................................................................................... 9-8
9.3.2 Grease Replenishment/Exchange for L-Axis Speed Reducer.............................. 9-9
9.3.2.1 Grease Exchange ................................................................................... 9-9
9.3.2.2 Grease Exchange ................................................................................. 9-10
9.3.3 Grease Replenishment/Exchange for U-Axis Speed Reducer ........................... 9-12
9.3.3.1 Grease Replenishment.......................................................................... 9-12
9.3.3.2 Grease Exchange ................................................................................. 9-14
9.3.4 Grease Replenishment for R-Axis Speed Reducer ............................................ 9-15
9.3.5 Grease Replenishment for B-Axis Speed Reducer ............................................ 9-16
9.3.6 Grease Replenishment for T-Axis Gear ............................................................. 9-17
9.3.7 Grease Replenishment for R-Axis Gear ............................................................. 9-19
9.3.8 Notes for Maintenance ....................................................................................... 9-21
9.3.8.1 Wrist Unit............................................................................................... 9-21
9.3.8.2 Battery Pack Connection....................................................................... 9-21
10 Recommended Spare Parts........................................................................................................ 10-1
11 Parts List ..................................................................................................................................... 11-1
11.1 S-Axis Unit ..................................................................................................................... 11-1
11.2 L-Axis Unit ..................................................................................................................... 11-3
11.3 U-Axis Unit..................................................................................................................... 11-5
11.4 R-Axis Unit (Shipped in or After August 2014) .............................................................. 11-7
11.5 Wrist Unit ....................................................................................................................... 11-9
11.6 Gear Unit (No. 5040) ................................................................................................... 11-12
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1 Product Confirmation
1.1 Contents Confirmation
Product Confirmation
CAUTION
Confirm that the manipulator and the DX200/FS100 have the same
order number. Special care must be taken when more than one
manipulator is to be installed.
If the numbers do not match, manipulators may not perform as

expected and cause injury or damage.
1.1
Contents Confirmation
Confirm the contents of the delivery when the product arrives.
Standard delivery includes the following four items (information for the
content of optional goods are given separately):
Manipulator
DX200/FS100
Programming pendant
Manipulator cables (between the DX200/FS100 and the Manipulator)
1-1
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1 Product Confirmation
1.2 Order Number Confirmation
1.2
Order Number Confirmation

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

THE MANIPULATOR AND THE CONTROLLER
SHOULD HAVE SAME ORDER NUMBER.
ORDER NO.
Check that the manipulator

and the DX200/FS100 have the
same order number.
US
PROGRAMMING PENDANT
X81
CN
FBB
CN210 CN211
(c) FS100 (Front View)
(a) DX200 (Front View)
(b) Manipulator (Top View)
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2 Transport
2.1 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 135 kg

including the shipping bolts and brackets. Use a wire rope
strong enough to withstand the weight.
NOTE
Mount the shipping bolts and brackets for transporting the

manipulator.
Avoid putting external force on the arm or motor unit when
transporting by a crane, forklift, or other equipment.
Failure to observe this instruction may result in injury.
2-1
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2 Transport
2.1 Transport Method
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

#
#
$
GT-SA bolt M10X25

(2 eyebolts)
2.1.2
Using a Forklift
When using a forklift, the manipulator should be fixed on a pallet with
shipping bolts as shown in Fig. 2-2 Using a Forklift. Insert claws under
the pallet and lift it. The pallet must be strong enough to support the
manipulator. Transport the manipulator slowly with due caution in order to
avoid overturning or slippage.
Fig. 2-2: Using a Forklift
Pallet
Bolt M16 (4 places)
Forklift claw entries
2-2
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2 Transport
2.2 Shipping Bolts and Brackets
2.2
Shipping Bolts and Brackets

The manipulator is provided with two shipping bolts and a shipping
bracket. (See Fig. 2-4 Cushioning Materials for Transport.)
Fig. 2-3: Shipping Bolts and Brackets
GT-SA bolt M10X25

(2 eyebolts)
Front View
Side View
The shipping bolts and bracket are painted yellow.

The shipping bracket is to be fixed with the GT-SA bolt M10
(length: 25mm) (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 Transport
2.3 Cushioning Material for Transport
2.3
Cushioning Material for Transport

The manipulator is provided with the cushioning materials for transport at
sections A and B. (See Fig. 2-4 Cushioning Materials for Transport.)
Fig. 2-4: Cushioning Materials for Transport
A 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.
2-4
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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 shipping

bolts and brackets explained in Fig. 2-4 Cushioning Materials for
Transport on page 2-4 are removed.
Failure to observe this caution may result in damage to the driving

parts.
3-1
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3 Installation
3.1 Safeguarding Installation
3.1
Safeguarding Installation
To insure safety, be sure to install safeguarding. It prevents unforeseen
accidents with personnel and damage to equipment. Refer to the quoted
clause for your information and guidance.
Responsibility for Safeguarding (ISO10218)
The user of a manipulator or robot system shall ensure that safeguards
are provided and used in accordance with Sections 6, 7, and 8 of this
standard. The means and degree of safeguarding, including any
redundancies, shall correspond directly to the type and level of hazard
presented by the robot system consistent with the robot application.
Safeguarding may include but not be limited to safeguarding devices,
barriers, interlock barriers, perimeter guarding, awareness barriers, and
awareness signals.
3.2
Mounting Procedures for Manipulator Base

The manipulator should be firmly mounted on a base plate or foundation
strong enough to support the manipulator and withstand 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 base plate flatness must be kept at 0.5 mm or less: insufficient flatness
of installation surface may deform the manipulator shape and affect its
functional abilities. Mount the manipulator base as instructed in section
3.2.1 Mounting Example.
Table 3-1: Manipulator Repulsion Force and Torque

Horizontal rotation
Vertical rotation
Repulsion force FH Torque MH
Repulsion force FH Torque MV
Emergency stop
9025 N
(920 kgf)
4120 Nm
(420 kgfm)
5885 N
(600 kgf)
4120 Nm
(420 kgfm)
Acceleration/
deceleration
3140 Nm
(320 kgf)
1275 Nm
(130 kgfm)
2355 Nm
(240 kgf)
1670 Nm
(170 kgfm)
3-2
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3 Installation
3.2 Mounting Procedures for Manipulator Base
Fig. 3-1: Manipulator Repulsion Force and Torque
/8
(8
/*
(*
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3 Installation
3.2 Mounting Procedures for Manipulator Base
Mounting Example
For the first process, anchor the base plate firmly to the ground. The base
plate should be rugged and durable to prevent shifting of the manipulator
or the mounting fixture. It is recommend to prepare a base plate of 40 mm
or more thick, and anchor bolts of M16 or larger size.
The manipulator base is tapped for four mounting holes; securely fix the
manipulator base to the base plate with four hexagon head bolts M16
(50 mm long is recommended).
Next, fix the manipulator base to the base plate. Tighten the hexagon
head bolts and anchor bolts firmly so that they will not work loose during
the operation.
Refer to Fig. 3-2 Mounting the Manipulator on Base Plate.
Fig. 3-2: Mounting the Manipulator on Base Plate
Hexagon head bolt M16 (4 bolts)
Spring washer
Washer
20
Manipulator base
Baseplate
40 mm
or more
Manipulator base
Anchor bolt (M16 or larger)

Baseplate
300
240
Baseplate
260
60
12 dia.
292
260
60
18 dia. (4 holes)
300
3.2.1
+0.018
0
16 dia.
1000.1
+0.018
0
(2 holes)
View A
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3 Installation
3.3 Types of Mounting
3.3
Types of Mounting
The MOTOMAN-MH12 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 Installation
3.4 Location
3.4
Location
When installing a manipulator, it is necessary to satisfy the following
environmental conditions:
Ambient temperature: 0 to + 45 C
Humidity: 20 to 80 %RH (no-condensing)
Free from dust, soot, oil, or water
Free from corrosive gas or liquid, or explosive gas or liquid.
Free from excessive vibration (Vibration acceleration: 4.9 m/s2
[0.5 G] or less)
Free from large electrical noise (plasma)
Flatness for installation: 0.5 mm or less
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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 Wiring
4.1 Grounding
4.1
Grounding
Follow electrical installation standards and wiring regulations for
grounding. A ground wire of 5.5 mm2 or more is recommended.
Refer to Fig. 4-1 Grounding Method to connect the ground line directly to
the manipulator.
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 Wiring
4.2 Cable Connection
4.2
Cable Connection
Two manipulator cables are delivered with the manipulator; an encoder
cable (1BC) and a power cable (2BC).
(Refer to Fig. 4-2(a) Manipulator Cables (DX200),Fig. 4-2(b)
Manipulator Cables (FS100).)
Connect these cables to the manipulator base connectors and to the
DX200/FS100. Refer to Fig. 4-3 Manipulator Cable Connectors
(Manipulator Side) ,Fig. 4-4(a) Manipulator Cable Connection (DX200
Side) and Fig. 4-4(b) Manipulator Cable Connection (FS100 Side).
4.2.1
Connection to the Manipulator

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

Before connecting two cables to the DX200/FS100, verify the numbers on
both manipulator cables and the connectors on the DX200/FS100. When
connecting, insert the cables in the order of X21, then X11, and depress
each lever low until it clicks.
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Fig. 4-2(a): Manipulator Cables (DX200)
Manipulator Side
DX200 Side
X11
1BC
X11
1BC
1BC
Encoder Cable
DX200 Side
Manipulator Side
2BC
X21
MH12
2BC
X21
2BC
Power Cable
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Fig. 4-2(b): Manipulator Cables (FS100)
Manipulator Side
FS100 Side
X11
1BC
1BC
X11
1BC
molex
Encoder Cable
Manipulator Side
FS100 Side
2BC
X21
MH12
2BC
X21
2BC
Power Cable
Fig. 4-3: Manipulator Cable Connectors (Manipulator Side)
Connector Details
(Manipulator Side)
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4 Wiring
Fig. 4-4(a): Manipulator Cable Connection (DX200 Side)
X11
X21
Fig. 4-4(b): Manipulator Cable Connection (FS100 Side)
X21
X11
Back View
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5 Basic Specifications
5.1 Basic Specifications
Basic Specifications
5.1
Basic Specifications
Table 5-1: Basic Specifications1)

Item
Model
MOTOMAN-MH12
Structure
Vertically Articulated
Degree of Freedom
Payload
12 kg
Repeatability2)
0.08 mm
Range of Motion
Maximum Speed
3)
Allowable Moment
S-Axis (turning)
-170 - +170
L-Axis (lower arm)
-90 - +155
U-Axis (upper arm)
-175 - +240
R-Axis (wrist roll)
-180 - +180
B-Axis (wrist pitch/yaw)
-135 - +135
T-Axis (wrist twist)
-360 - +360
S-Axis
3.84 rad/s, 220/s
L-Axis
3.49 rad/s, 200/s
U-Axis
3.84 rad/s, 220/s
R-Axis
7.16 rad/s, 410/s
B-Axis
7.16 rad/s, 410/s
T-Axis
10.6 rad/s, 610/s
R-Axis
22 Nm (2.2 kgfm)
B-Axis
22 Nm (2.2 kgfm)
T-Axis
9.8 Nm (1.0 kgfm)
Allowable Inertia (GD2/4) R-Axis
0.65 kgm2
B-Axis
0.65 kgm2
T-Axis
0.17 kgm2
Approx. mass
Ambient Conditions
Power Requirements
Noise
4)
130 kg
Temperature
0C to 45 C
Humidity
20 to 80% RH (non-condensing)
Vibration Acceleration
4.9 m/s2 or less (0.5 G)
Others
Free from corrosive gasses or liquids, or explosive gasses

Free from exposure to water, oil, or dust
Free from excessive electrical noise (plasma)
1.5 kVA
Less than 78.8 dB
1 SI units are used in this table. However, gravitational unit is used in (

).
2 Conformed to ISO9283
3 Refer to section 6.1 Allowable Wrist Load on page 6-1
for details on the permissible moment of inertia.
4 Conformed to ISO6926
1, Measurement is carried out when the maximum load is mounted to the manipulator and
operated in the maximum speed.
2, Measurement is carried out:
- between 1.2 m and 1.5 m above the ground.
- 400 mm away from the P-point maximum envelope.
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5.2 Part Names and Working Axes
5.2
Part Names and Working Axes

Fig. 5-1: Part Names and Working Axes
U+
U-arm
R+
B+
T+
Wrist flange
U-
L-
R-
B-
T-
L+
L-arm
S-head
S+
S-
5.3
Manipulator base
Manipulator Base Dimensions
Fig. 5-2: Manipulator Base Dimensions
300
240
60
60
260
292
300
18 dia.
(4 holes)
20
Baseplate
260
+0.018
0
12 dia.
+0.018
16 dia. 0
(2 holes)
View A
Units: mm
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5.4 Dimensions and P-Point Maximum Envelope
5.4
Dimensions and P-Point Maximum Envelope
Fig. 5-3: Dimensions and P-Point Maximum Envelope
13
26
R4
10
170
45
R4
10
170
R14
40
P-point maximum
envelope
195
100
2
640
100
90
614
84
85
200
155
94.5
1734
198.5
705
450
2511
155
240
299
0
361
17
5-3
1440
410
206
606
848
1129
777
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5.5 Stopping Angles and Times for S-, L- and U-Axes (DX200)
5.5
Stopping Angles and Times for S-, L- and U-Axes (DX200)

Following data on stopping angle and time for each axis measured under
the standard of ISO10218.
5.5.1
5.5.1.1
Stop Category 0: Stopping Angles and Times
Position 100%
Fig. 5-4: Stop Category 0, Position 100% : Stopping Angle and Time for each Axis
(a)S-Axis
(b)L-Axis
(c)U-Axis
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5.5.1.2
Position 66%
(a)S-Axis
(b)L-Axis
(c)U-Axis
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5.5.1.3
Position 33%
(a)S-Axis
(b)L-Axis
(c)U-Axis
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5.5.2
NOTE
5.5.2.1
Stopping angles and times at Stop category 1 are not

subjected to the load of the manipulator.
Position100%
Fig. 5-7: Stop Category 1: Position 100% Stopping Angle and Time for each Axis
(a)S-Axis
Notes) Not depends on the load

(b)L-Axis

(c)U-Axis
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5.5.2.2
Position 66%
(a)S-Axis

(b)L-Axis

(c)U-Axis
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5.5.2.3
Position 33%
(a)S-Axis

(b)L-Axis

(c)U-Axis
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5.6 Stopping Angles and Times for S-, L- and U-Axes (FS100)
5.6
Stopping Angles and Times for S-, L- and U-Axes (FS100)

Following data on stopping angle and time for each axis measured under
the standard of ISO10218.
5.6.1
5.6.1.1
Position 100%
(a)S-Axis
(b)L-Axis
(c)U-Axis
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5.6.1.2
Position 66%
(a)S-Axis
(b)L-Axis
(c)U-Axis
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5.6.1.3
Position 33%
(a)S-Axis
(b)L-Axis
(c)U-Axis
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5.6.2
NOTE
5.6.2.1
Stopping angles and times at Stop category 1 are not

subjected to the load of the manipulator.
Position100%
(a)S-Axis

(b)L-Axis

(c)U-Axis
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5.6.2.2
Position 66%
(a)S-Axis

(b)L-Axis

(c)U-Axis
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5.6.2.3
Position 33%
(a)S-Axis

(b)L-Axis

(c)U-Axis
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5.7 Alterable Operating Range
5.7
Alterable Operating Range

The operating range of the S-axis can be altered in accordance with the
operating conditions as shown in Table 5-2 "S-Axis Operating Range".
If alteration is necessary, contact your Yaskawa representative in
advance.
Table 5-2: S-Axis Operating Range
5.7.1
Item
Specifications
S-Axis Operating
Range
-170 - +170 (standard)

-150 - +150
-135 - +135
-120 - +120
-105 - +105
-90 - +90
-75 - +75
-60 - +60
-45 - +45
-30 - +30
Components for Altering Operating Range

Arrange the components listed in Fig. 5-16 The Components of the SAxis Stopper and Stopper Mounting Position, when modifying the angle
of S-axis.
(1) Dog (drawing No. HW0414041-2) (2 dogs)
(2) Hexagon socket head cap screw M12
(length: 30 mm) (2 screws)
(Tensile strength: 1200 N/mm2 or more)
(3) Conical spring washer M12 (2 washers)
Fig. 5-16: The Components of the S-Axis Stopper and Stopper Mounting Position
S-axis Operating Range
Stopper position
-135 VQ+135
-120 VQ+120
-105 VQ+105
-90 VQ+90
-75 VQ+75
-60 VQ+60
f
g
-45 VQ+45
-30 VQ+30
c
b
a
a
b
it)
al Lim
-150 VQ+150
hanic
(Mec
-170 VQ+170
c
i
d
g
(Mechanical Limit)
HW0414041-2dog(2 dogs)
M12 tap (18 places)

Hexagon socket head cap screw M12
(length: 30 mm) (2 screws)
( Tensile strength: 1200 N/mm2 or more)
Conical spring washer M12 (2 washers)
Tightening torque: 84N m(8.6kgf m)
Section A-A
Dog Mouting Position
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5.7.2
Notes on the Mechanical Stopper Installation

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

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

Apply the Instruction for DX200 Instructions section 8.17 Changing the
Parameter Setting (165292-1CD) as part of reference materials for
adjusting the programming pendant when modifying the range of motion
of S-Axis.
The limitation to the pulse (Pulse Soft Limit + 1st Axis) : SICxG400
The limitation to the pulse (Pulse Soft Limit - 1st Axis) : SICxG408
Degree
Number
of Pulse
Degree
Number
of Pulse
NOTE
30
43061
45
64591
60
86121
75
107651
90
129182
105
150712
120
172242
135
193772
150
215303
170
244010
Adjust both of the pulse limitation and the angle of S-Axis

mechanical stopper as modifying the range of motion for
machinery.
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The Angle of S-Axis Stopper for - Direction
Settable angle
Non settable angle
"Table 5-3 The Settable Angle for S-Axis Stopper" indicates the angle range which
allows S-axis to be set for + direction and - direction angles.
(Ex. -150 to +150 is settable, however 0 to +135 is not settable)
The Angle of S-Axis Stopper for + Direction

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Table 5-3: The Settable Angle for S-Axis Stopper
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Allowable Load for Wrist Axis and Wrist Flange

Allowable Wrist Load
The allowable wrist load is 12 kg maximum. If force is applied to the wrist
instead of the load, force on R-, B-, and T-axes should be within the value
shown in Table 6-1 "Allowable Wrist Load". Contact your Yaskawa
representative for further information or assistance.
Table 6-1: Allowable Wrist Load
Axis
Moment Nm (kgfm)1)
GD2/4 Total Moment of Inertia

kgm2
R-Axis
22 (2.2)
0.65
B-Axis
22 (2.2)
0.65
T-Axis
9.8 (1.0)
0.17
1 ( ): Gravitational unit
When the volume load is small, refer to the moment arm rating shown in
Fig. 6-1 Moment Arm Rating.
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
100
LT
Load gravity position
LT
6.1
R-, T-axis
rotation center
300
238
LT [mm]
6 Allowable Load for Wrist Axis and Wrist Flange

6.1 Allowable Wrist Load
W=3Kg
200
167
W=6Kg
100
83
W=12Kg
100
187
200
300
329
400
465
500
LB [mm]
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6 Allowable Load for Wrist Axis and Wrist Flange

6.2 Wrist Flange
6.2
Wrist Flange
The wrist flange dimensions are shown in Fig. 6-2 Wrist Flange.
It is recommended that the attachment be mounted outside the fitting in
order to identify the alignment marks. Fitting depth shall be 5 mm or less.
The attachment should be mounted inside the range shown in the figure
below.
Fig. 6-2: Wrist Flange
Tapped holes M4 (8 holes)
(Pitch: 0.7)(Depth: 8)
+0.012
4 dia. 0
(Depth: 6)
22.5
Dia.100
5
Attachments should be
mounted within this
range.
NOTE
0
62 dia. -0.019 (Depth: 6)
Dia.100
Dia.50
62 dia. -0.019
56
Wash off anti-corrosive paint (yellow) on the wrist flange

surface with thinner or light oil before mounting the tools.
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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 on page 7-1 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 22 kg, including the wrist
load.
For instance, when the mass installed on the wrist point is 12 kg, the mass
which can be installed on the upper arm is 10 kg.
The maximum allowable load on the S-axis is 20 kg. Install the peripheral
equipment on the S-axis so that the moment of inertia (GD2/4) from the
S-axis rotation center is 1.25 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.
70
Tapped hole M8 (4 holes)

(Depth: 18) (Pitch: 1.25)
130
Fig. 7-1: Installing Peripheral Equipment
48
78
24
165
15

28.5
50
View B
Mount the peripheral

equipment within this range
300
Mount the peripheral

equipment so that the
center of gravity of
the peripheral equipment
on the U-arm should be
within this range

60
130
26

60
13
206
7.1.2
50
7 System Application
7.1 Peripheral Equipment Mounts
45
110 90
7-1
475
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7.2 Internal User I/O Wiring Harness and Air Line
7.2
Internal User I/O Wiring Harness and Air Line

Internal user I/O wiring harness (14 wires: 0.2 mm2 x 8 wires, 0.75 mm2 x
2 wires and 1.25 mm2 x 4 wires), and an air line are incorporated in the
manipulator for the drive of peripheral devices mounted on the upper arm
as shown in Fig. 7-2 Connectors for Internal User I/O Wiring Harness and
Air Line.
The connector pins 1 to 16 are assigned as shown in Fig. 7-3 Details of
the Connector Pin Numbers on page 7-4 on the following page. Wiring
must be performed by users.
The following optional can be incorporated in the manipulator.
A. Cables for the power 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 350 A 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 (350A/operating current )2
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Fig. 7-2: Connectors for Internal User I/O Wiring Harness and Air Line
Air Inlet A
PT3/8
with a pipe plug
Air Inlet B
PT3/8
with a pipe plug
Usable to optional A or B only
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)
9KVJoptional A
#
Air Inlet B
PT3/8
with a pipe plug
Air Inlet A
PT3/8
with a pipe plug
Power cable terminal block for arc welding

Recomennded crimpted terminal: R100-10
Cover (TCV-2001-04) 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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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
10
14
13
15
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/FS100 controller.
NOTE
The pins No.7 and No.8 of respective 3BC connectors on

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

and arm part are connected with the single wire lead of 0.2 mm2,
0.75 mm2 or 1.25 mm2.
7-4
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8 Electrical Equipment Specification

8.1 Position of Limit Switch
Electrical Equipment Specification

8.1
Position of Limit Switch

The limit switches are optional. See Fig. 8-1 Location of Limit Switches.
Fig. 8-1: Location of Limit Switches
LU-axis interference
limit switch (optional)
S-axis overrun
8-1
L-axis overrun
59 of 102
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8.2 Position of Servo ON Lamp
8.2
Position of Servo ON Lamp

The limit switches are optional. See Fig. 8-2 Location of Servo On Lamp
Fig. 8-2: Location of Servo On Lamp
Servo ON lamp
(Optional)
8-2
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8.3 Internal Connections
8.3
Internal Connections
Highly reliable connectors are equipped on each connection part of the
manipulator to enable easy removal and installation for maintenance and
inspection. For the number and location of connectors, see Fig. 8-3
Locations and Numbers of Connectors.
Diagrams for Internal connections of the manipulator are shown in Fig.
8-4(a) Internal Connection Diagram DX200) , Fig. 8-4(a) Internal
Connection Diagram DX200), Fig. 8-4(c) Internal Connection Diagram
(FS100)and Fig. 8-4(d) Internal Connection Diagram (FS100).
Fig. 8-3: Locations and Numbers of Connectors
3BC (for internal user I/O wiring harness)
on the U-arm
3BC (for internal user I/O wiring harness)

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

Name
Type of Connector

wiring harness on the connector
base
JL05-2A20-29PC
(JL05-6A20-29S: Optional)

wiring harness on the U-arm
JL05-2A20-29SC
(JL05-6A20-29P: Optional)
8-3
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Fig. 8-4(a): Internal Connection Diagram DX200)
Internal Cable
Power Cable
Note
1.For the limit switch specification, the connection of the section A B is changed as follows:
LC1
LD1 LD1
LC1
LD1
S-AXIS OVERRUN L.S.
LC2
LD2
LD1
LC3
LD3
0BT
P BAT
0BT
P BAT
0BT
P BAT
0BT
P 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)
DX200
CN1-5
CN1-4
CN1-5
CN1-4
+24V
0V
1
3
CN1-10
CN1-9
CN1-10
CN1-9
+24V
0V
2
4
CN1-1
CN1-2
SPG+1
SPG-1
CN1-1
CN1-2
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
LA1
LB1 LB1
0BAT1
BAT1
0BAT2
BAT2
0BAT3
BAT3
LA1
LB1
CN1-6
CN1-7
CN1-6
CN1-7
PG0V1
PG5V1
PG0V2
PG5V2
PG0V3
PG5V3
PG0V4
PG5V4
PG0V5
PG5V5
PG0V6
PG5V6
LA2
LB2
A2
LC2
LD2
B2
LD1
CN4-1
CN4-6
No.22CN
22CN-1
+24V
LB1
CN4-1
CN4-6
CN4-2
CN4-7
CN4-2
CN4-7
CN2-1
CN2-2
CN2-1
CN2-2
1BC(10X4)
CN2-6
CN2-7
SPG+3
SPG-3
FG3
CN2-6
CN2-7
SPG+4
SPG-4
-2
-6
-5
-4
-9
-7
DATA+1
DATA-1
BAT
OBT
+5V
0V
FG1
No.23CN
23CN-1
-2
-6
-5
-4
-9
-7
DATA+2
DATA-2
BAT
OBT
+5V
0V
FG2
P
P
P
P
P
P
No.16CN
16CN-1
-2
-6
-5
-4
-9
-10
DATA+3
DATA-3
BAT
OBT
+5V
0V
FG3
CN2-8
CN2-10
LC1
LD1
LD1
LD2
LD2
LD1
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
No.18CN
18CN-1
-2
-6
-5
-4
-9
-10
DATA+1
DATA-1
BAT
OBT
+5V
0V
FG1
PG
No.19CN
19CN-1
-2
-6
-5
-4
-9
-10
DATA+2
DATA-2
BAT
OBT
+5V
0V
FG2
PG
S-axis
L-axis
PG
U-axis
No.9CN
9CN-1
-2
-3
-4
10CN-1
-2
-3
P
P
CN2-8
A3
SS2
CN2-3
CN2-10
Connected to
AL1
P
CN2-3
A2
S-axis with Limit Switch Specification
SPG+2
SPG-2
FG2
Connected to
L AND U-AXIS INTERFERENCE L.S.
LA1
LB1
LB1
FG1
CN1-8
B3
A1
L-AXIS OVERRUN L.S.
LC1
LD1
P
CN1-8
Connected to
Connected to
SLU-axes with Limit Switch Specification
0BAT4
BAT4
P
CN1-3
S-AXIS OVERRUN L.S.
LA3
LB3
P
CN1-3
B2
Connected to
L AND U-AXIS INTERFERENCE L.S.
LA2
LB2
LB1
B1
Connected to
L-AXIS OVERRUN L.S.
FG4
+24V
P
DATA+4
DATA-4
BAT
OBT
+5V
0V
FG4
OBT
BAT
PGLAMP(OPTION)
FOR
Internal Cable in BT-axes
CN3-1
CN3-2
CN3-3
CN3-1
CN3-2
CN3-3
CN2-4
CN2-5
CN2-4
CN2-5
CN2-9
CN2-9
CN3-6
CN3-7
CN3-8
CN3-6
CN3-7
CN3-8
CN4-3
CN4-8
CN4-3
CN4-8
CN4-10
CN4-10
CN3-4
CN3-5
CN3-4
CN3-5
CN3-9
CN3-10
CN3-9
CN3-10
CN4-4
CN4-5
CN4-9
SPG+5
SPG-5
No.13CN
-1
DATA+5
-7
DATA-5
-2
BAT
-8
OBT
-3
+5V
-9
0V
-4
-10
DATA+6
DATA-6
-5
-11
-6
+5V
0V
FG6
FG5
SPG+7
SPG-7
P
P
FG7
SPG+6
SPG-6
FG6
No.3CN
3CN-1
-2
-3
-4
4CN-1
-2
-3
BC2
AL2
0V
P
CN4-4
CN4-5
CN4-9
No.1CN
1CN-1
-2
-3
-4
2CN-1
-2
-3
U
V
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
R-axis
0V
+5V
0V
+5V
A1
LB1
LA1
LC1
+24V
LD1
FG8
LD1
LB2
LB2
LB1
LD2
LD2
LD1
LA3
LB3
LC3
LD3
A3
B3
B1
E
8-4
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Fig. 8-4(b): Internal Connection Diagram (DX200)
3BC-1
-2
-3
-4
-5
-6
-7
-8
-9
-10
-11
-12
-13
-14
-15
-16
Casing
Base
3BC(20-29)
1
2
3
4
5
6
7
8
9
10
11
12
13
14
15
16
3BC(20-29)
7
8
1
2
3
4
5
6
SS1
SS2
1
2
3
4
5
6
SS1
SS2
E
1
2
3
4
P
P
1
2
3
4
P
P
P
SS1
SS2
SS1
SS2
1
2
3
4
5
6
7
8
9
10
11
12
13
14
15
16
3BC-1
-2
-3
-4
-5
-6
-7
-8
-9
-10
-11
-12
-13
-14
-15
-16
For Spare Cable
2BC(6X6)
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
2BC(6X6)
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
MU1
20CN-3
MV1
-2
MW1
-1
ME1
-PE
BA1
-4
BB1
-5
MU2
MV2
MW2
MU2
MV2
MW2
No.21CN
MU2
21CN-3
MV2
-2
MW2
-1
ME2
-PE
BA2
-4
BB2
-5
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
SM
S-axis
YB
SM
L-axis
YB
No.17CN
MU3
17CN-3
MV3
-2
MW3
-1
ME3
-PE
BA3
-4
BB3
-5
SM
U-axis
YB
No.11CN
MU4
11CN-1
MV4
-2
MW4
-3
ME4
-4
BA4
-1
BB4
-2
SM
R-axis
YB
No.12CN

No.5CN
No.14CN
CN5-1
CN5-2
CN5-3
CN5-4
CN5-5
CN5-6
CN5-1
CN5-2
CN5-3
CN5-4
CN5-5
CN5-6
ME3
ME4
ME5
ME6
BA1
BB1
14CN-1
-2
-3
-4
MU5
MV5
MW5
ME5
CN6-1
CN6-2
CN6-3
CN6-4
CN6-5
CN6-6
CN6-1
CN6-2
CN6-3
CN6-4
CN6-5
CN6-6
BA2
BA3
BA4
BB4
BA5
BA6
-5
-6
-7
-8
MU6
MV6
MW6
ME6
5CN-1
-2
-3
-4
-1
-2
MU5
MV5
MW5
ME5
BA5
BB5
No.6CN
15CN-1
BA5
-2
BB5
-3
BA6
-4
BB6
No.15CN
PE
E-WRCT(60sq)
No.7CN
MU6
7CN-1
MV6
-2
MW6
-3
ME6
-4
BA6
-1
BB6
-2
No.8CN
SM
B-axis
YB
SM
T-axis
YB
Power cable for arc welding (optional)
8-5
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Fig. 8-4(c): Internal Connection Diagram (FS100)
3BC-1
-2
-3
-4
-5
-6
-7
-8
-9
-10
-11
-12
-13
-14
-15
-16
Casing
Base
3BC(20-29)
1
2
3
4
5
6
7
8
9
10
11
12
13
14
15
16
3BC(20-29)
7
8
1
2
3
4
5
6
SS1
SS2
1
2
3
4
5
6
SS1
SS2
E
1
2
3
4
P
P
1
2
3
4
P
P
P
SS1
SS2
SS1
SS2
1
2
3
4
5
6
7
8
9
10
11
12
13
14
15
16
3BC-1
-2
-3
-4
-5
-6
-7
-8
-9
-10
-11
-12
-13
-14
-15
-16
For Spare Cable
2BC(6X6)
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
2BC(6X6)
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
MU1
20CN-3
MV1
-2
MW1
-1
ME1
-PE
BA1
-4
BB1
-5
MU2
MV2
MW2
MU2
MV2
MW2
No.21CN
MU2
21CN-3
MV2
-2
MW2
-1
ME2
-PE
BA2
-4
BB2
-5
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
SM
S-axis
YB
SM
L-axis
YB
No.17CN
MU3
17CN-3
MV3
-2
MW3
-1
ME3
-PE
BA3
-4
BB3
-5
SM
U-axis
YB
No.11CN
MU4
11CN-1
MV4
-2
MW4
-3
ME4
-4
BA4
-1
BB4
-2
SM
R-axis
YB
No.12CN

No.5CN
No.14CN
CN5-1
CN5-2
CN5-3
CN5-4
CN5-5
CN5-6
CN5-1
CN5-2
CN5-3
CN5-4
CN5-5
CN5-6
ME3
ME4
ME5
ME6
BA1
BB1
14CN-1
-2
-3
-4
MU5
MV5
MW5
ME5
CN6-1
CN6-2
CN6-3
CN6-4
CN6-5
CN6-6
CN6-1
CN6-2
CN6-3
CN6-4
CN6-5
CN6-6
BA2
BA3
BA4
BB4
BA5
BA6
-5
-6
-7
-8
MU6
MV6
MW6
ME6
MU5
MV5
MW5
ME5
BA5
BB5
No.6CN
15CN-1
BA5
-2
BB5
-3
BA6
-4
BB6
No.15CN
PE
E-WRCT(60sq)
8-6
5CN-1
-2
-3
-4
-1
-2
No.7CN
MU6
7CN-1
MV6
-2
MW6
-3
ME6
-4
BA6
-1
BB6
-2
No.8CN
SM
B-axis
YB
SM
T-axis
YB
64 of 102
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MH12

Fig. 8-4(d): Internal Connection Diagram (FS100)
3BC-1
-2
-3
-4
-5
-6
-7
-8
-9
-10
-11
-12
-13
-14
-15
-16
Casing
Base
3BC(20-29)
1
2
3
4
5
6
7
8
9
10
11
12
13
14
15
16
3BC(20-29)
7
8
1
2
3
4
5
6
SS1
SS2
1
2
3
4
5
6
SS1
SS2
E
1
2
3
4
P
P
1
2
3
4
P
P
P
SS1
SS2
SS1
SS2
1
2
3
4
5
6
7
8
9
10
11
12
13
14
15
16
3BC-1
-2
-3
-4
-5
-6
-7
-8
-9
-10
-11
-12
-13
-14
-15
-16
For Spare Cable
2BC(6X6)
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
2BC(6X6)
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
MU1
20CN-3
MV1
-2
MW1
-1
ME1
-PE
BA1
-4
BB1
-5
MU2
MV2
MW2
MU2
MV2
MW2
No.21CN
MU2
21CN-3
MV2
-2
MW2
-1
ME2
-PE
BA2
-4
BB2
-5
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
SM
S-axis
YB
SM
L-axis
YB
No.17CN
MU3
17CN-3
MV3
-2
MW3
-1
ME3
-PE
BA3
-4
BB3
-5
SM
U-axis
YB
No.11CN
MU4
11CN-1
MV4
-2
MW4
-3
ME4
-4
BA4
-1
BB4
-2
SM
R-axis
YB
No.12CN

No.5CN
No.14CN
CN5-1
CN5-2
CN5-3
CN5-4
CN5-5
CN5-6
CN5-1
CN5-2
CN5-3
CN5-4
CN5-5
CN5-6
ME3
ME4
ME5
ME6
BA1
BB1
14CN-1
-2
-3
-4
MU5
MV5
MW5
ME5
CN6-1
CN6-2
CN6-3
CN6-4
CN6-5
CN6-6
CN6-1
CN6-2
CN6-3
CN6-4
CN6-5
CN6-6
BA2
BA3
BA4
BB4
BA5
BA6
-5
-6
-7
-8
MU6
MV6
MW6
ME6
5CN-1
-2
-3
-4
-1
-2
MU5
MV5
MW5
ME5
BA5
BB5
No.6CN
15CN-1
BA5
-2
BB5
-3
BA6
-4
BB6
No.15CN
PE
E-WRCT(60sq)
No.7CN
MU6
7CN-1
MV6
-2
MW6
-3
ME6
-4
BA6
-1
BB6
-2
No.8CN
SM
B-axis
YB
SM
T-axis
YB
8-7
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MH12
9 Maintenance and Inspection

9.1 Inspection Schedule
Maintenance and Inspection
DANGER
Maintenance and inspection must be performed by specified

personnel.
Failure to observe this caution may result in electric shock or injury.
For disassembly or repair, contact your Yaskawa representative.
Do not remove the motor, and do not release the brake.
Failure to observe these safety precautions may result in death or

serious injury from unexpected turning of the manipulator's arm.
WARNING
Before maintenance or inspection, be sure to turn the main power

supply OFF, and put up a warning sign. (ex. DO NOT TURN THE
POWER ON.)
Failure to observe this warning may result in electric shock or injury.
CAUTION
The battery pack must be connected before removing detection

connector when maintenance and inspection.
Failure to observe this caution may result in the loss of home position
data.
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 9-2 "Inspection Items" on page 9-2.
In Table 9-2, 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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Table 9-2: Inspection Items (Sheet 1 of 2)
Alignment mark
2
3
4
5
External lead
Working area and
manipulator
Motors for S-, L-, U-axes
Baseplate mounting bolts
Cover mounting screws
7
8
Connector base
Timing belts for B- and
T-axes
Wire harness in manipulator
(SLU-axes wires)
(RBT-axes wires)
Visual
Spanner
Wrench
Screwdriver,
Wrench
Manual
Manual
Visual,
Multimeter
Visual,
Multimeter
Visual
Tighten loose bolts. Replace if necessary.

Check for loose connectors.
Check for belt tension and wear.
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)
Replace4)
Check for holes or tears, and adhesion of spatters. Replace it if any.
Refer to MOTOMAN MA1440/MH12 OPTIONS FOR PROTECTIVE
TUBING (VELCRO TYPE) REPLACING PROCEDURES, for replacing the
protective tubing (velcro type).
Replace the battery pack when the battery alarm occurs or the manipulator
drove for 36000H.
Service
Company
Licensee
Specified
Personnel
Check alignment mark accordance at the home position.
Check for damage.
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.
36000H
24000H
12000HCycle
6000HCycle
Visual
Inspection
Charge
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12 Battery pack in manipulator
Operation
Visual
Visual
10 Wire harness in manipulator

(BT-axis wires)
11 Protective tubing
(velcro type)
Method

9-2
1000HCycle
Schedule
Daily
Items1)
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13 S-axis speed reducer
Grease Gun
14 Speed reducers for L- and

U-axes
Grease Gun
15 R-axis speed reducer
Grease Gun
16 B-axis speed reducer

17 T-axis gear
Grease Gun
Grease Gun
18 Overhaul
Service
Company
Licensee
Check for malfunction. (Replace if necessary.)

Supply grease5) (6000H cycle). See section 9.3.1 on page 9-7.
Replace grease(12000H cycle). See section 9.3.1 on page 9-7.
Supply grease5) (6000H cycle).
See section 9.3.2 on page 9-9 and section 9.3.3 on page 9-12.
Replace grease5) (12000H cycle).
See section 9.3.2 on page 9-9 and section 9.3.3 on page 9-12.
Supply grease5) (6000H cycle). See section 9.3.6 on page 9-17
Inspection
Charge
Specified
Personnel
Operation

9-3
Method
36000H
24000H
12000HCycle
6000HCycle
1000HCycle
Daily
Schedule
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1 Inspection No. correspond to the numbers in Fig. 9-5 Inspection Items on page 9-4.
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 section 9.3.8 Notes for Maintenance on page 9-21)
4 Wire harness in manipulator to be replaced at 24000H inspection.
5 For the grease, refer to Table 9-3 "Inspection Parts and Grease Used".
Table 9-3: Inspection Parts and Grease Used

No.
12, 13
14,15
16
Grease Used
VIGO Grease RE No. 0
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
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Table 9-2: Inspection Items (Sheet 2 of 2)
MH12
The numbers in the above table correspond to the numbers in Table 9-2 "Inspection Items"
Fig. 9-5: Inspection Items
4
15
9-4
17
11
14
4

11
4
12
13
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9
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9.2 Notes on Maintenance Procedures
9.2
9.2.1
Notes on Maintenance Procedures

Battery Pack Replacement
The battery packs are installed in the position shown in Fig. 9-6 Battery
Location. If the battery alarm occurs in the DX200/FS100, replace the
battery in accordance with the following procedure:
Fig. 9-6: Battery Location
Support
Connector base
Battery pack
Plate fixing screw
Fig. 9-7: 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/FS100 main power supply.

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

7. Reinstall the plate.
NOTE
Do not allow plate to pinch the cables when reinstalling the

plate.
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9.3 Notes on Grease Replenishment/Exchange Procedures
9.3
Notes on Grease Replenishment/Exchange Procedures

Make sure to follow the instructions listed below at grease replenishment/
exchange. Failure to observe the following notes may result in damage to
motor and speed reducer.
If grease is added without removing the plug/screw from
the grease exhaust port, the grease will leak inside a
motor or an oil seal of a speed reducer will come off, which
may result in damage to the motor. Make sure to remove
the plug/screw.
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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9.3.1
Grease Replenishment/Exchange for S-Axis Speed Reducer

Fig. 9-8: S-Axis Speed Reducer Diagram
Grease exhaust port
Hexagon socket head plug PT3/8
(Grease inlet: when mounted on the ceiling)
Grease inlet
S-axis speed reducer
(Grease exhaust port: when mounted on the ceiling)
9.3.1.1
Grease Replenishment
(Refer to Fig. 9-8 S-Axis Speed Reducer Diagram.)
Replenish the grease according to the following procedure:
1. Remove the hexagon socket head plugs PT3/8 from the grease inlet
and grease exhaust port.
Note that the function of grease inlet and grease exhaust
port exchanges when the manipulator is mounted on the
ceiling.
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:
Amount of grease:
70 cc (140 cc for 1st supply)
Air supply pressure of grease pump:
0.3 MPa or less
Grease injection rate:
8 g/s or less
4. Move the S-axis for a few minutes to discharge excess grease.

5. Remove the grease zerk from the grease inlet, and reinstall the plug.
Before installing the plug, apply Three Bond 1206C on the thread part
of the plug. Then tighten the screw with a tightening torque of 23 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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9.3.1.2

Grease Exchange
(Refer to Fig. 9-8 S-Axis Speed Reducer Diagram on page 9-7.)
and grease exhaust port.
ceiling.
NOTE

3. Inject the grease through the grease inlet using a grease gun.
Grease type:
Amount of grease:
approx. 450 cc
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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9.3.2
Grease Replenishment/Exchange for L-Axis Speed Reducer

Fig. 9-9: L-Axis Speed Reducer Diagram
Grease exhaust port
(Grease exhaust inlet: when mounted on the ceiling)
L-arm
Grease inlet
Hexagon socket head tapered pipe plug
(NPTF type) NPTF3/8
9.3.2.1
Grease Exchange
(Refer to Fig. 9-9 L-Axis Speed Reducer Diagram.)
1. Make the L-arm vertical to the ground.
2. Remove the hexagon socket head tapered pipe plug (NPTF type)
NPTF3/8 from the grease inlet and remove the hexagon socket head
plug PT3/8 from the grease exhaust port.
ceiling.
NOTE

4. Inject grease through the grease inlet using a grease gun.
Grease type:
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).
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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).
NOTE
9.3.2.2
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. 9-9 L-Axis Speed Reducer Diagram on page
9-9. 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. 9-9 L-Axis Speed Reducer Diagram on page 9-9.)
1. Make the L-arm vertical to the ground.
2. Remove the hexagon socket head tapered pipe plug (NPTF type)
NPTF3/8 from the grease inlet and remove the hexagon socket head
plug PT3/8 from the grease exhaust port..
Note that the function of grease inlet and exhaust port
exchanges when the manipulator is mounted on the
ceiling.
NOTE

Grease type:
Amount of grease:
approx. 420 cc
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.
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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
NOTE

refer to Fig. 9-9 L-Axis Speed Reducer Diagram on page
damage or the plug may fall inside the L-axis driving part.
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9.3.3
Grease Replenishment/Exchange for U-Axis Speed Reducer

Fig. 9-10: U-Axis Speed Reducer Diagram
U-axis
speed reducer
U-arm
Casing
Grease exhaust port
Hexagon socket head tapered pipe plug
(NPTF type)NPTF3/8
Grease inlet
Casing
9.3.3.1
Grease Replenishment
(Refer to Fig. 9-10 U-Axis Speed Reducer Diagram.)
1. Make the U-arm horizontal to the ground.
2. Remove the hexagon socket head plug PT3/8 from the grease inlet
and the hexagon socket head tapered pipe plug (NPTF type)
NPTF3/8 from the grease exhaust port.
ceiling.
NOTE
f grease is injected with the plug on, the grease will leak

Grease type:
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).
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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. 9-10 U-Axis Speed Reducer Diagram on page
damage or the plug may fall inside the U-axis driving part.
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9.3.3.2

Grease Exchange
(Refer to Fig. 9-10 U-Axis Speed Reducer Diagram on page 9-12.)
1. Make the U-arm horizontal to the ground.
2. Remove the hexagon socket head plug PT3/8 from the grease inlet
and the hexagon socket head tapered pipe plug (NPTF type)
NPTF3/8 from the grease exhaust port.
ceiling.
NOTE

Grease type:
Amount of grease:
approx. 250 cc
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. 9-10 U-Axis Speed Reducer Diagram on page
damage or the plug may fall inside the U-axis driving part.
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9.3.4
Grease Replenishment for R-Axis Speed Reducer

Fig. 9-11: R-Axis Speed Reducer Diagram
R-axis speed reducer
Exhaust port
Grease inlet
(Exhaust port: when mounted on the ceiling)
and exhaust port.
NOTE

exchanges when the manipulator is mounted on the ceiling.

(Refer to Fig. 9-11 R-Axis Speed Reducer Diagram.)
Grease type:
Harmonic grease SK-1A
Amount of grease:
6 cc (12cc 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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9.3.5
Grease Replenishment for B-Axis Speed Reducer

Fig. 9-12: 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. 9-12 B-Axis Speed Reducers Diagram.)
Grease type:
Amount of grease:
6 cc (12 cc 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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9.3.6
Grease Replenishment for T-Axis Gear

Fig. 9-13: T-Axis Gear Diagram
T-axis Gear
Grease exhaust port

Hexagon socket
set screw M6
Grease inlet 1
Hexagon socket
head cap screw M6
Grease inlet 2
Hexagon socket
head cap screw M6
1. Remove the hexagon socket head cap screws M6 from the grease
inlet 1 and exhaust port.
2. Install a grease zerk A-MT6X1 to the grease inlet 1.
3. Inject grease through the grease inlet 1 using a grease gun.
Grease type:
Alvania EP Grease 2
Amount of grease:
5 cc
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.
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7. Inject grease through the grease inlet 2 using a grease gun.
Grease type:
Alvania EP Grease 2
Amount of grease:
5 cc
NOTE
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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9.3.7
Grease Replenishment for R-Axis Gear

Fig. 9-14: R-Axis Gear Diagram
R-axis gear
Grease exhaust port

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

and exhaust port.
ceiling.
NOTE

(Refer to Fig. 9-14 R-Axis Gear Diagram.)
Grease type:
Amount of grease:
10 cc
0.3 MPa or less
8 g/s or less
5. Move the R-axis for a few minutes to discharge excess grease.
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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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9.3.8
9.3.8.1
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-MA1440/MH12-A00" on page 10-1.)
Fig. 9-15: Sealing Part of Wrist Unit
Cover
Cover jointing face
Cover jointing face

Cover
9.3.8.2
Battery Pack Connection
When performing maintenance such as replacement of a

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

battery pack leads to disappearance of the encoder
absolute data.
For the battery pack connection, refer to Fig. 9-16(a)
"Encoder connector Diagram (for S-, L- and U-Axes)" on
page 9-22 and Fig. 9-16(b) "Encoder Connector Diagram
(for R-, B-, and T-Axes)" on page 9-22.
Before removing the encoder connector (with CAUTION label), connect

the battery pack referring to the following figures.
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Fig. 9-16(a): Encoder connector Diagram (for S-, L- and U-Axes)

Motor
Motor power connector

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

Connector for battery back-up
Fig. 9-16(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
a OBT4
b BAT4
b
a
Encoder connector
Battery pack
Connection Diagram
0BT
BAT
a
b
0BT4
BAT4
CAUTION Label (Enlarged View)
CAUTION
a: Crimped contact-pin (Pin)

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

to save the data before
removing connector.
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10
Recommended Spare Parts
10 Recommended Spare Parts

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

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

Rank Parts Name
No.
Type
Grease
Manufacturer
Qty
Qty
per
Unit
VIGO Grease RE No. 0 YASKAWA
16 kg
Grease
Harmonic Grease SK1A
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
Battery Pack
HW9470932-A
YASKAWA
Protective Tubing
(velcro type)
MTK-50FR
YASKAWA
(0.5 m+ 0.6 m)
1.1 m
B-Axis Timing Belt 60S3M642
Mitsuboshi Belting Limited 1
T-Axis Timing Belt 80S3M819
Mitsuboshi Belting Limited 1
10
S-Axis Speed
Reducer
HW0386621-B
YASKAWA
11
S-Axis Input Gear
HW0312734-2
YASKAWA
12
L-Axis Speed
Reducer
HW0387809-A
YASKAWA
13
L-Axis Input Gear
HW0312735-2
YASKAWA
14
U-Axis Speed
Reducer
HW1380153-A
YASKAWA
15
U-Axis Input Gear
HW1303245-1
YASKAWA
16
R-Axis Speed
Reducer
HW1382521-A
YASKAWA
17
B-Axis Speed
Reducer
HW1382522-A
YASKAWA
18
R-Axis Gear
HW1303246-1
HW1303247-1
YASKAWA
1 each 1 each
19
T-Axis Gear
(Output Side)
HW1371294-A
YASKAWA
20
T-Axis Gear
(Input Side)
HW1303250-1
YASKAWA
10-1
Remarks
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Recommended Spare Parts
Table 10-1: Spare Parts for the YR-MA1440/MH12-A00 (Sheet 2 of 2)

Rank Parts Name
No.
Type
Manufacturer
Qty
Qty
per
Unit
21
Internal Wire
Harness
HW1171418-A
YASKAWA
22
Internal Cable for

B- and T-Axes
HW1270926-A
YASKAWA
23
AC Servomotor for SGMRV-05ANA-YR2*

S- and U-Axes
HW0388664-A
YASKAWA
24
L-Axis AC
Servomotor
SGMRV-09ANA-YR1*
HW0388665-A
YASKAWA
25
R-, B- and T-Axis

AC Servomotors
SGMAV-01ANA-YR1*
HW0389294-A
YASKAWA
26
Board
SGDR-EFBA02A
YASKAWA
Remarks
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11 Parts List
11.1 S-Axis Unit
11 Parts List
11.1
S-Axis Unit
Fig. 11-1: S-Axis Unit
1010
1015
1003
1027
1005
1025
1010
1004
1014
1010
1006
1028
1012
1029
1025
1009
1011
1020
1021
1032
1019
1031
1025
1030
1023
1008
1024
1002
1025
1033
1006
1007
1001
1026
11-1
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11 Parts List
11.1 S-Axis Unit
Table 11-1: S-Axis Unit

No.
DWG No.
Name
Pcs
1001
HW1100498-1
Base
1002
HW0386621-B
Speed reducer
1003
HW0312734-2
Gear
1004
2H-5
Conical spring washer
1005
M585

screw
1006
TSH8-03
Union
1007
NB-0860-0.3
Tube
1008
M635
GT-SA bolt
16
1009
HW1303263-1
M base
1010
M825
GT-SA bolt
28
1011
HW1100499-1
S head
1012
PT3/8
Hexagon socket head

plug
1014
NB-0860-0.2
Tube
1015
SGMRV-05ANA-YR2*
Motor
1019
CD31
Saddle
1020
M58
Hexagon socket head cap 2

screw
1021
2H-5
1023
HW0414670-2
Support
1024
HW1303253-1
Cover
1025
M615
GT-SA bolt
21
1026
M510 (STAINLESS)
APS bolt
1027
HW1303254-1
Cover
1028
C-30-SG-30A
Gromet
1029
HW1303255-1
Cover
1030
TA1-S10
Clamp
1031
M58 (STAINLESS)
Pan-head sems screw
1032
T50R
Cable tie
1033
EZ5036A0
Cap
11-2
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11 Parts List
11.2 L-Axis Unit
11.2
L-Axis Unit
Fig. 11-2: L-Axis Unit
2007
2008
2011
2005
2004
2003
2009
1011
2006
2008
2012
2013
2010
2014
2002
2001
11-3
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11 Parts List
11.2 L-Axis Unit
Table 11-2: L-Axis Unit

No.
DWG No.
Name
Pcs
2001
M660
GT-SA bolt
16
2002
NPTF3/8 (STAINLESS)
Hexagon socket head

tapered pipe plug
(NPTF type)
2003
M675

screw
2004
2H-6
2005
HW0312735-2
Gear
2006
M615
GT-SA bolt
2007
SGMRV-09ANA-YR1*
Motor
2008
M825
GT-SA bolt
22
2009
PT3/8
Hexagon socket head

plug
2010
HW0387809-A
Speed reducer
2011
HW1100500-1
L-arm
2012
HW1304187-1
Cover
2013
HW1405226-1
Support
2014
M510
GT-SA bolt
1011
HW1100499-1
S head
11-4
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11 Parts List
11.3 U-Axis Unit
11.3
U-Axis Unit
Fig. 11-3: U-Axis Unit

3029
3011
3001
3003
3012
3022
3023
3028
3023
3020
3021
3006
3019
3005
3004 3013
3018
3024
3017
3025
3016
3003
3026
3009
3010
3014
3002
3003
3027
3002
3015
3008
3007
2011
11-5
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11 Parts List
11.3 U-Axis Unit
Table 11-3: U-Axis Unit

No.
DWG No.
Name
Pcs
3001
HW1100617-1
Casing
3002
M1220

screw
3003
M412
GT-SA bolt
3004
M575

screw
3005
2H-5
3006
HW1303245-1
Gear
3007
NPTF3/8 (STAINLESS)
Hexagon socket head

tapered pipe plug
(NPTF type)
3008
HW1380153-A
Speed reducer
3009
M525
GT-SA bolt
16
3010
M1030
GT-SA bolt
3011
SGMRV-05ANA-YR2*
Motor
3012
M830
GT-SA bolt
3013
M625
GT-SA bolt
3014
HW1404044-1
Plate
3015
PT3/8
Hexagon socket head

plug
3016
HW1404041-1
Support
3017
HW0404554-2
N base
3018
M316 (STAINLESS)
Pan-head sems screw
3019
M3
Nut
3020
M412
GT-SA bolt
3021
KQE10-03
Union
3022
KQE12-03
Union
3023
PT3/8 (STAINLESS)
Hexagon socket head

plug
3024
HW1404786-1
Gasket
3025
TA1-58
Clamp
3026
M48 (STAINLESS)
Pan-head sems screw
3027
T50R
Cable tie
3028
HW1404517-1
Gasket
3029
HW1404057-1
Cover
2011
HW1100500-1
L-arm
11-6
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11 Parts List
11.4 R-Axis Unit (Shipped in or After August 2014)
11.4
R-Axis Unit (Shipped in or After August 2014)
Fig. 11-4: R-Axis Unit

5063
4006
4004
3001
4021
4004
4001
4005
4030 4028
4026
4033
4027
4001
4010
4011
4029
4032
4028
4027
4003
4008
4001
4026
4001
4024
4023
4002
4001
4009
4014
4023
4014
4012
4013
4018
4019
4025
(shipped in or before July 2014)

4015
4016
4020
4007
4038
4041
4022
4037
4034
4017
4036
4001
4035
11-7
4039
4040
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11 Parts List
11.4 R-Axis Unit (Shipped in or After August 2014)
Table 11-4: R-Axis Unit

No.
DWG No.
Name
Pcs
4001
M412
GT-SA bolt
10
4002
PT1/8
Hexagon socket head

plug
4003
HW1304069-1*1
Shaft
4004
M620
GT-SA bolt
13
4005
HW1304196-1*1
Shaft
4006
TC1151306
Oil seal
4007
AE0478G
Oil seal
4008
TC52647
Oil seal
4009
HW1303247-1
Gear
4010
HW1382521-A
Speed reducer
4011
M545
GT-SA bolt
4012
HW1303905-1
Housing
4013
HW1303257-1
Shaft
4014
M312
GT-SA bolt
11
4015
HW1303246-1
Gear
4016
HW1404045-1
M base
1
3
4017
M316
GT-SA bolt
4018
M416

screw
4019
2H-4
4020
HW0404304-2
Gasket
4021
HW1404056-1
Cover
4022
SGMAV-01ANA-YR1*
Motor
4023
M412
GT-SA bolt
11
4024
HW9481319-D
Cable bushing
4025
HW1303904-1
Cover
4026
PZ1212
Saddle
4027
M46 (STAINLESS)
APS bolt
4028
PZ1208
Saddle
4029
HW1404042-1
Support
4030
HW1404043-1
Support
4032
HW1404499-1
Cover
4033
M640*1
GT-SA bolt
4034
HW1304053-1*2
Shaft
4035
HW1404986-1*2
Ring
4036
HW1405180-1*2
Ring
4037
HW1404958-1*2
Shaft
4038
M635*2
GT-SA bolt
4039
M425*2

screw
4040
2H-4*2
4041
M615*2
GT-SA bolt
3001
HW1100617-1
Casing
5063
HW1100618-1
U-arm
*1 Use items shipped in or after August 2014

*2 Use items shipped in or before July 2014
11-8
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11 Parts List
11.5 Wrist Unit
11.5
Wrist Unit
Fig. 11-5: Wrist Unit

5043
5045
5008
5007
5001
5006
5047
5035
5041
5040
5005
5046
5042
5038
5036
5037
5009
5028
5001
5002
5026
5021
5003
5005
5005
5025
5019
5022
5044
5055
5039
5018
5020
5005
5027
5067
5029 5031
5030
5024
5016
5005
5033
5017
5066
5015
5032
5069
5011
5013
5014
5012
5028
5034
5023
5062
5065
5063
5054
5051
5050
5010
5058
3001
5058
5059
5064
5060
5010
5048
5005
5052
5049
5005
5061
5053
5065
5066 5015
5014
5056
5069
5057
5068
11-9
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11 Parts List
11.5 Wrist Unit
Table 11-5: Wrist Unit (Sheet 1 of 2)
No.
DWG No.
Name
5001
M6X6

5
screw
5002
HW0404371-1
Bolt
5003
HW1404058-1
Cover
5005
M310
GT-SA bolt
39
5006
HW1404060-1
Gasket
5007
HW1404069-1
Cover
5008
M4X10 (STAINLESS)
APS bolt
5009
M410
GT-SA bolt
23
5010
M410
GT-SA bolt
5011
HW1404053-1
Fly wheel
5012
HW1404038-A
Pulley
HW1404038-B
(For the manipulator assembled after Jun 21. 2015)
Pulley
5013
Pcs
M416

1
screw
M420
(For the manipulator assembled after Jun 21. 2015)

1
screw
5014
2H-4
5015
M416
GT-SA bolt
5016
HW1303244-1*1
Cover
HW1304180-1*2
Cover
5017
80S3M819
Belt
5018
WR20
Circlip
5019
HW1303260-1
Shaft
5020
HW1404049-1
Cover
5021
M840

1
screw
5022
2H-8
5023
HW1481728-A
Bearing
5024
6809DDU
Bearing
5025
HW1404059-6
Spring
5026
HW1303248-1
Gear
5027
6804
Bearing
5028
M328
GT-SA bolt
18
5029
M820

1
screw
5030
2H-8
5031
HW1404039-A
Pulley
5032
HW1303249-1
Gear
5033
HW1404048-1
B cover (holder)
5034
HW1404054-1
Shaft
5035
TC50606
Oil seal
5036
AR28
Circlip
5037
WR15
Circlip
5038
NA4902
Needle bearing
11-10
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11 Parts List
11.5 Wrist Unit
Table 11-5: Wrist Unit (Sheet 2 of 2)
No.
DWG No.
Name
Pcs
5039
HW1303250-1
Gear
5040
HW1371294-A
Gear assy
5041
RA9008C0
Cross roller bearing
5042
TC1001105
Oil seal
5043
TC64746
Oil seal
5044
HW1303261-1
Flange
5045
HW1404055-1
Holder
5046
HW1303262-1
Flange
5047
HW1100619-1
Wrist
5048
HW1303259-1
Shaft
5049
M320
GT-SA bolt
12
5050
IRTW26
Retaining ring
5051
6803LLU
Bearing
5052
HW1404037-A
Pulley
5053
M316
GT-SA bolt
5054
HW1404047-1
Housing
5055
HW1382522-A
Speed reducer
5056
60S3M642
Belt
*1
Cover
*2
HW1304179-1
Cover
5058
SGMAV-01ANA-YR1*
Motor
5059
HW1404046-1*3
M base
*4
HW1406071-1
M base
5060
HW1404036-A
Pulley
5061
M412

1
screw
5062
HW1404052-1*3
M base
*4
HW1406072-1
M base
5063
HW1100618-1
U-arm
5064
6902
Bearing
5065
HW1404516-1
Cover
5066
M48
5057
5067
5068
HW1303243-1
GT-SA bolt
*1
M412
GT-SA bolt
M410*2
GT-SA bolt
*1
GT-SA bolt
10
GT-SA bolt
10
M412
*2
M410
*4
5069
HW1482873
Seat
4054
HW1200341-1
Spacer
*1 Use items shipped in or before October 2014

*2 Use items shipped in or after November 2014
*3 Use items shipped in or before December 2014
*4 Use items shipped in or after January 2015
11-11
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11 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
WB5-30
Coil spring
6006
M312
GT-SA bolt
11-12
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MOTOMAN-MH12
INSTRUCTIONS
HEAD OFFICE
2-1 Kurosakishiroishi, Yahatanishi-ku, Kitakyushu 806-0004, Japan
Phone +81-93-645-7703
Fax +81-93-645-7802
YASKAWA America Inc. (Motoman Robotics Division)
100 Automation Way, Miamisburg, OH 45342, U.S.A.
Phone +1-937-847-6200
Fax +1-937-847-6277
YASKAWA Europe GmbHRobotics Divsion )
Yaskawastrasse 1, 85391 Allershausen, Germany
Phone +49-8166-90-100
Fax +49-8166-90-103
YASKAWA Nordic AB
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.
59,1st-5th Floor, Flourish Building, Soi Ratchadapisek 18,Ratchadapisek Road,
Huaykwang, Bangkok 10310, THAILAND
Phone +66-2-017-0099
Fax +66-2-017-0199
PT. YASKAWA Electric Indonesia
Secure Building-Gedung B Lantai Dasar & Lantai 1 JI. Raya Protokol Halim Perdanakusuma,
Jakarta 13610, Indonesia
Phone +62-21-2982-6470
Fax +62-21-2982-6741
Specifications are subject to change without notice

for ongoing product modifications and improvements.
MANUAL NO.
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MOTOMAN-MH12

Copyright 2016, 2015, 2013 Yaskawa America, Inc.

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

Notes for Safe Operation

Indicates an imminent hazardous

Indicates a potentially hazardous

Indicates a potentially hazardous

MANDATORY items listed under this heading.

Must never be performed.

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

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

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

Notes for Safe Operation

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

Notes for Safe Operation

Before operating the manipulator, check that servo power is turned

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

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

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

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.

Notes for Safe Operation

Confirm that no person is present in the manipulators operating

Injury may result if anyone enters the manipulators operating range

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 In this Manual (DX200)

Definition of Terms Used In this Manual (DX200)

DX200 programming pendant

Cable between the manipulator and the

Definition of Terms Used In this Manual (FS100)

FS100 programming pendant

Cable between the manipulator and

FS100 programming pendant

Explanation of Warning Labels

Explanation of Warning Labels

Customer Support Information

Customer Support Information

When using e-mail to contact Motoman Customer Support, please provide

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

Access this information on the

Robot Serial Number

Located on the robot data plate

Robot Sales Order Number

Located on the DX200/ FS100