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YASKAWA MOTOMAN-MH6
6 kg PAYLOAD, 6-AXIS VERTICALLY ARTICULATED
Dimensions Units : mm : P-point Maximum Envelope * : MOTOWELD is a welding power source for MOTOMAN.
1122
1422
637
309
152
349
381
0
1722
141 640 95
75
R A
81
170˚ 422
R3
R1
155
B T
˚
83
U
Point P
614
˚
90
1294
188 199
L 681
155 ˚
130
R2
352 170˚ 70
450
250˚
B
S 0
5
C 204
316
175˚
300
764 260
132±0.1
538
501
102±0.1
153±0.1
240
60
4-18 dia. Holes
6 45˚ Air Inlet A
4-M6 Tapped Holes PT3/8 tapped,
(Pitch : 1.0)(Depth : 9)
260
300
292
(with plug)
Air Inlet B
60
1BC
2BC
PT3/8 tapped,
132±0.1
130±0.1
6 P.C
3BC
MOTOMAN-MH6
Manipulator Specifications DX100 Controller Specifications
Model MOTOMAN-MH6 Items Specifications
Configuration Dust proof
Type YR-MH00006-A00
425(W)× 450(D)× 1200(H) mm
Controlled Axis 6 (Vertically articulated) Dimensions
(Possible to control 3 external axes.)
Payload 6 kg Mass 100 kg max.
Repeatability*1 ±0.08 mm Cooling System Indirect cooling
S -axis (turning) ±170˚ Ambient During operation : 0˚C to +45˚C
Temperature During storage : −10˚C to + 60˚C
L -axis (lower arm) +155˚ to −90˚
Relative Humidity 90% max. (non-condensing)
Range of U -axis (upper arm) +250˚ to −175˚ Three-phase 200/220 VAC (+10% to −15%), 60 Hz (±2%)(Japan)
Power Supply
Motion R -axis (wrist roll) ±180˚ Three-phase 200 VAC (+10% to −15%), 50 Hz (±2%)(Japan)
B -axis (wrist pitch/yaw) +225˚ to −45˚ Grounding Grounding resistance : 100 Ω or less
Specialized signals : 23 inputs and 5 outputs
T -axis (wrist twist) ±360˚
Digital l/Os General signals : 40 inputs and 40 outputs
S -axis (turning) 3.84 rad/s, 220˚/s
Max. I/O (optional) : 2048 inputs and 2048 outputs
L -axis (lower arm) 3.49 rad/s, 200˚/s Positioning System By serial encoder
Maximum U -axis (upper arm) 3.84 rad/s, 220˚/s JOB : 200,000 steps, 10,000 instructions
Programming
Speed R -axis (wrist roll) 7.16 rad/s, 410˚/s CIO ladder Standard : 15,000 steps
Capacity
Expanded : 20,000 steps
B -axis (wrist pitch/yaw) 7.16 rad/s, 410˚/s
PCI : 2 slots for main CPUs and 1 slot for servo CPU
T -axis (wrist twist) 10.65 rad/s, 610˚/s Expansion Slots
1 additional slot for sensor board
R -axis (wrist roll) 11.8 Nm LAN (Connection to Host) 1 (10BaseT/100BaseTX)
Allowable
B -axis (wrist pitch/yaw) 9.8 Nm Interface RS-232C : 1ch
Moment Control Method Software servo control
T -axis (wrist twist) 5.9 Nm
Standard 6 axes and 2 additional single-axis amplifiers
R -axis (wrist roll) 0.27 kgm2
Allowable Drive Units can be mounted (8 axes max.)
Inertia B -axis (wrist pitch/yaw) 0.27 kgm2 Additional amplifiers for the external axis can also be used.
(GD2/4) Munsell notation 5Y 7/1 (reference value)
T -axis (wrist twist) 0.06 kgm2 Painting Color
Mass 130 kg
Temperature 0˚C to + 45˚C Programming Pendant Specifications
Humidity 20 to 80%RH (non-condensing) Items Specifications
Vibration 4.9 m/s2 or less Dimensions 169(W)×314.5(H)×50(D) mm
Mass 0.986 kg
Ambient Free from corrosive gasses or
Material Reinforced plastics
Conditions liquids, or explosive gasses Select keys, axes keys, numerical/application keys,
Others Clean and dry Operation mode keys (mode : teach, play, and remote),
Free from excessive electrical Device emergency stop button, enable switch, compact
flash card interface device (compact flash is optional.)
noise (plasma)
5.7-inch color LCD, touch panel 640×480 pixels
Power Requirements*2 1.5 kVA Display (Alphanumeric characters, Chinese characters,
YASKAWA ELECTRIC CORPORATION In the event that the end user of this product is to be the military
and said product is to be employed in any weapons systems or
the manufacture thereof, the export will fall under the relevant
regulations as stipulated in the Foreign Exchange and Foreign
Trade Regulations. Therefore, be sure to follow all procedures
and submit all relevant documentation according to any and all
rules, regulations and laws that may apply.
YASKAWA