MOTOMAN-MH50 II INSTRUCTIONS€¦ · or shields removed for clarity. Be sure all covers and shields are replaced before operating this product. • The drawings and photos in this

MANUAL NO.

HW1482719

Part Number: 169858-1CDRevision: 7

7

MOTOMAN-MH50 IIINSTRUCTIONS

TYPE:YR-MH00050-J00 (DX200: STANDARD SPECIFICATIONS)

Upon receipt of the product and prior to initial operation, read these instructions thoroughly, and retain for future reference.

MOTOMAN INSTRUCTIONS

MOTOMAN-MH50 II INSTRUCTIONSDX200 INSTRUCTIONSDX200 OPERATOR’S MANUAL (for each purpose)DX200 MAINTENANCE MANUAL

The DX200 operator’s manual above corresponds to specific usage. Be sure to use the appropriate manual.

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Copyright © 2017, 2016, 2015, 2014 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, 2014

YASKAWA America, Inc.Motoman Robotics Division100 Automation WayMiamisburg, OH 45342Phone: 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-MH50 II 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 the Chapter 1: Safety of the DX200 instructions. To ensure correct and safe operation, carefully read the DX200 instructions before reading this manual.

CAUTION

• Some drawings in this manual are shown with the protective covers or shields removed for clarity. Be sure all covers and shields are replaced before operating this product.

• The drawings and photos in this manual are representative examples and differences may exist between them and the delivered product.

• YASKAWA may modify this model without notice when necessary due to product improvements, modifications, or changes in specifications.If such modification is made, the manual number will also be revised.

• If your copy of the manual is damaged or lost, contact a YASKAWA representative to order a new copy. The representatives are listed on the back cover. Be sure to tell the representative the manual number listed on the front cover.

• YASKAWA is not responsible for incidents arising from unauthorized modification of its products. Unauthorized modification voids your product’s warranty.

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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 OperationMH50II

Notes for Safe OperationRead this manual carefully before installation, operation, maintenance, or inspection of the MOTOMAN-MH50 II .

In this manual, the Notes for Safe Operation are classified as “DANGER”, “WARNING”, “CAUTION”, “MANDATORY”, or “PROHIBITED”.

Even items described as “CAUTION” may result in a serious accident in some situations.

At any rate, be sure to follow these important items.

DANGERIndicates an imminent hazardous situation which, if not avoided, could result in death or serious injury to personnel.

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

CAUTIONIndicates a potentially hazardous situation which, if not avoided, could result in minor or moderate injury to personnel and damage to equipment. It may also be used to alert against unsafe practices.

MANDATORYAlways be sure to follow explicitly the items listed under this heading.

PROHIBITED Must never be performed.

NOTETo ensure safe and efficient operation at all times, be sure to follow all instructions, even if not designated as “DANGER”, “WARNING” and “CAUTION”.

DANGER• Maintenance and inspection must be performed by specified

personnel.

Failure to observe this caution may result in electric shock or injury.

• For disassembly or repair, contact your YASKAWA representative.

• Do not remove the motor, and do not release the brake.

Failure to observe these safety precautions may result in death or serious injury from unexpected turning of the manipulator's arm.

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WARNING• Before operating the manipulator, check that servo power is turned

OFF pressing the emergency stop buttons on the front door of the DX200 and the programming pendant.When the servo power is turned OFF, the SERVO ON LED on the programming pendant is turned OFF.

Injury or damage to machinery may result if the emergency stop circuit cannot stop the manipulator during an emergency. The manipulator should not be used if the emergency stop buttons do not function.

Fig. : Emergency Stop Button

• Once the emergency stop button is released, clear the cell of all items which could interfere with the operation of the manipulator.Then turn the servo power ON.

Injury may result from unintentional or unexpected manipulator motion.

Fig. : Release of Emergency Stop

TURN

• Observe the following precautions when performing teaching operations within the P-point maximum envelope of the manipulator:

– Be sure to use a lockout device to the safeguarding when going inside. Also, display the sign that the operation is being performed inside the safeguarding and make sure no one closes the safeguarding.

– View the manipulator from the front whenever possible.

– Always follow the predetermined operating procedure.

– Keep in mind the emergency response measures against the manipulator’s 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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Definition of Terms Used Often in This ManualMH50II

Definition of Terms Used Often in This ManualThe 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:

Description of the Operation ProcedureIn the explanation of the operation procedure, the expression “Select • • •” means that the cursor is moved to the object item and the SELECT key is pressed, or that the item is directly selected by touching the screen.

Registered TrademarkIn this manual, names of companies, corporations, or products are trademarks, registered trademarks, or brand names for each company or corporation. The indications of (R) and TM are omitted.

CAUTION

• Perform the following inspection procedures prior to conducting manipulator teaching. If problems are found, repair them immediately,and be sure that all other necessary processing has been performed.

– Check for problems in manipulator movement.

– Check for damage to insulation and sheathing of external wires.

• Always return the programming pendant to the hook on the cabinet of the DX200 after use.

The programming pendant can be damaged if it is left in the manipulator's work area, on the floor, or near fixtures.

• Read and understand the Explanation of Warning Labels in the DX200 Instructions before operating the manipulator:

Equipment Manual Designation

DX200 controller DX200

DX200 programming pendant Programming pendant

Cable between the manipulator and the controller

Manipulator cable

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Explanation of Warning Labels169858-1CD

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Explanation of Warning LabelsThe 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.

Fig. : Warning Label Locations

WARNINGDo not enterrobot work area.

WARNINGMoving partsmay causeinjury

Nameplate:

WARNING Label B:

WARNING Label A:

NameplateWARNING label AWARNING label B

MADE IN JAPAN

YASKAWA ELECTRIC CORPORATION

Kitakyushu 806-0004 Japan2-1 Kurosakishiroishi, Yahatanishi-ku,

SERIAL NO.

PAYLOADkg

TYPE

MASS

DATEORDER NO.kg

MOTOMAN-MODEL

NJ3878

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Safeguarding TipsMH50II

Safeguarding TipsAll operators, programmers, maintenance personnel, supervisors, and anyone working near the system must become familiar with the operation of this equipment. All personnel involved with the operation of the equipment must understand potential dangers of operation. General safeguarding tips are as follows:

• Improper operation can result in personal injury and/or damage to the equipment. Only trained personnel familiar with the operation of this equipment, the operator's manuals, the system equipment, and options and accessories should be permitted to operate this equipment.

• Improper connections can damage the equipment. All connections must be made within the standard voltage and current ratings of the equipment.

• The system must be placed in Emergency Stop (E-Stop) mode whenever it is not in use.

• In accordance with ANSI/RIA R15.06-2012, section 4.2.5, Sources of Energy, use lockout/tagout procedures during equipment maintenance. Refer also to Section 1910.147 (29CFR, Part 1910), Occupational Safety and Health Standards for General Industry (OSHA).

Mechanical Safety DevicesThe safe operation of this equipment is ultimately the users responsibility. The conditions under which the equipment will be operated safely should be reviewed by the user. The user must be aware of the various national codes, ANSI/RIA R15.06-2012 safety standards, and other local codes that may pertain to the installation and use of this equipment.

Additional safety measures for personnel and equipment may be required depending on system installation, operation, and/or location. The following safety equipment is provided as standard:

• Safety barriers

• Door interlocks

• Emergency stop palm buttons located on operator station

Check all safety equipment frequently for proper operation. Repair or replace any non-functioning safety equipment immediately.

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Programming, Operation, and Maintenance SafetyAll operators, programmers, maintenance personnel, supervisors, and anyone working near the system must become familiar with the operation of this equipment. Improper operation can result in personal injury and/or damage to the equipment. Only trained personnel familiar with the operation, manuals, electrical design, and equipment interconnections of this equipment should be permitted to program, or maintain the system. All personnel involved with the operation of the equipment must understand potential dangers of operation.

• Inspect the equipment to be sure no potentially hazardous conditions exist. Be sure the area is clean and free of water, oil, debris, etc.

• Be sure that all safeguards are in place. Check all safety equipment for proper operation. Repair or replace any non-functioning safety equipment immediately.

• Check the E-Stop button on the operator station for proper operation before programming. The equipment must be placed in Emergency Stop (E-Stop) mode whenever it is not in use.

• Back up all programs and jobs onto suitable media before program changes are made. To avoid loss of information, programs, or jobs, a backup must always be made before any service procedures are done and before any changes are made to options, accessories, or equipment.

• Any modifications to the controller unit can cause severe personal injury or death, as well as damage to the robot! Do not make any modifications to the controller unit. Making any changes without the written permission from YASKAWA will void the warranty.

• Some operations require a standard passwords and some require special passwords.

• The equipment allows modifications of the software for maximum performance. Care must be taken when making these modifications. All modifications made to the software will change the way the equipment operates and can cause severe personal injury or death, as well as damage parts of the system. Double check all modifications under every mode of operation to ensure that the changes have not created hazards or dangerous situations.

• This equipment has multiple sources of electrical supply. Electrical interconnections are made between the controller and other equipment. Disconnect and lockout/tagout all electrical circuits before making any modifications or connections.

• Do not perform any maintenance procedures before reading and understanding the proper procedures in the appropriate manual.

• Use proper replacement parts.

• Improper connections can damage the equipment. All connections must be made within the standard voltage and current ratings of the equipment.

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Maintenance SafetyMH50II

Maintenance SafetyTurn the power OFF and disconnect and lockout/tagout all electrical circuits before making any modifications or connections.

Perform only the maintenance described in this manual. Maintenance other than specified in this manual should be performed only by YASKAWA-trained, qualified personnel.

Summary of Warning InformationThis manual is provided to help users establish safe conditions for operating the equipment. Specific considerations and precautions are also described in the manual, but appear in the form of Dangers, Warnings, Cautions, and Notes.

It is important that users operate the equipment in accordance with this instruction manual and any additional information which may be provided by YASKAWA. Address any questions regarding the safe and proper operation of the equipment to YASKAWA Customer Support.

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Customer Support Information169858-1CD

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Customer Support InformationIf you need assistance with any aspect of your MH50II system, please contact YASKAWA Customer Support at the following 24-hour telephone number:

For routine technical inquiries, you can also contact YASKAWA Customer Support at the following e-mail address:

When using e-mail to contact YASKAWA 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.

Please have the following information ready before you call Customer Support:

[email protected]

NOTEPlease use e-mail for routine inquiries only. If you have an urgent or emergency need for service, replacement parts, or information, you must contact YASKAWA Customer Support at the telephone number shown above.

• System MH50II

• Primary Application ___________________________

• Controller DX200

• Software Version Access this information on the Programming Pendant’s 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 controller data plate

(937) 847-3200

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Table of ContentsMH50II

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...................................................................................................... 2-3

2.2 Shipping Bolts and Brackets.............................................................................................. 2-4

3 Installation....................................................................................................................................... 3-1

3.1 Installation of the Safeguarding ......................................................................................... 3-2

3.2 Mounting Procedures for Manipulator Base ...................................................................... 3-2

3.2.1 Mounting Example................................................................................................ 3-3

3.2.2 When the Manipulator is Mounted Directly on the Floor....................................... 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 Protection Class................................................................................................................. 3-6

3.5 Location ............................................................................................................................. 3-6

4 Wiring.............................................................................................................................................. 4-1

4.1 Grounding.......................................................................................................................... 4-1

4.2 Cable Connection .............................................................................................................. 4-2

4.2.1 Connection to the Manipulator.............................................................................. 4-2

4.2.2 Connection to the DX200 ..................................................................................... 4-2

5 Basic Specifications........................................................................................................................ 5-1

5.1 Basic Specifications........................................................................................................... 5-1

5.2 Part Names and Working Axes.......................................................................................... 5-2

5.3 Baseplate 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 ........................................................... 5-4

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5.5.1 Stop Category 0: Stopping Angles and Times......................................................5-4

5.5.1.1 Position 100% .........................................................................................5-4

5.5.1.2 Position 66% ...........................................................................................5-5

5.5.1.3 Position 33% ...........................................................................................5-6

5.5.2 Stop Category 1: Stopping Angles and Times......................................................5-7

5.6 Alterable Operating Range ................................................................................................5-8

5.6.1 Necessary Parts ...................................................................................................5-8

5.6.2 Notes on the S-Axis Mechanical Stopper Installation ........................................... 5-9

5.6.3 Alteration of the S-Axis Pulse Soft Limit ............................................................. 5-10

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

7.2 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

8.1.1 Specification of Limit Switch .................................................................................8-1

8.1.2 Location of Limit Switch ........................................................................................8-1

8.1.3 Setting of Operation Range ..................................................................................8-2

8.1.3.1 S-Axis Operation Range..........................................................................8-2

8.1.3.2 L-Axis Operation Range ..........................................................................8-2

8.1.3.3 Setting Range of LU-Axes Interference Angle.........................................8-3

8.2 Internal Connections..........................................................................................................8-4

9 Maintenance and Inspection ...........................................................................................................9-1

9.1 Inspection Schedule...........................................................................................................9-1

9.2 Notes on Maintenance Procedures....................................................................................9-5

9.2.1 Battery Pack Replacement ...................................................................................9-5

9.3 Grease Replenishment/Exchange ..................................................................................... 9-7

9.3.1 Notes on Grease Replenishment/Exchange Procedures .....................................9-7

9.3.2 Grease Replenishment/Exchange for S-axis Speed Reducer..............................9-8

9.3.2.1 Grease Replenishment............................................................................9-8

9.3.2.2 Grease Exchange....................................................................................9-9

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9.3.3 Grease Replenishment/Exchange for L-axis Speed Reducer ............................ 9-10

9.3.3.1 Grease Replenishment.......................................................................... 9-10

9.3.3.2 Grease Exchange ................................................................................. 9-11

9.3.4 Grease Replenishment/Exchange for U-axis Speed Reducer ........................... 9-12


9.3.4.2 Grease Exchange ................................................................................. 9-13

9.3.5 Grease Replenishment for R-axis Speed Reducer ............................................ 9-14


9.3.5.2 Grease Exchange ................................................................................. 9-15

9.3.6 Grease Replenishment for B- and T-axes Speed Reducer and Gear Parts....... 9-16


9.3.6.2 Grease Exchange ................................................................................. 9-17

9.4 Notes for Maintenance..................................................................................................... 9-18

9.4.1 Battery Pack Connection.................................................................................... 9-18

10 Recommended Spare Parts....................................................................................................... 10-1

11 Parts List ..................................................................................................................................... 11-1

11.1 S-Axis Unit ..................................................................................................................... 11-1

11.2 L-Axis Unit ..................................................................................................................... 11-3

11.3 U-Axis Unit..................................................................................................................... 11-5

11.4 R-,B-,T-Axes Unit........................................................................................................... 11-7

11.5 Wrist Unit ....................................................................................................................... 11-9

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1 Product Confirmation1.1 Contents Confirmation

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1 Product Confirmation

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 is given separately):

• Manipulator

• DX200

• Programing Pendant

• Manipulator Cable (between the DX200 and the Manipulator)

CAUTION

• Confirm that the manipulator and the DX200 have the same order number. Special care must be taken when more than one manipulator is to be installed.

If the numbers do not match, manipulators may not perform as expected and cause injury or damage.

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1 Product Confirmation1.2 Order Number Confirmation

MH50II

1.2 Order Number Confirmation

Check that the order number of the manipulator corresponds to the DX200. The order number is located on a label as shown below.

Fig. 1-1: Location of Order Number Labels

ORDER. No.

Label (Enlarged View)

THE MANIPULATOR AND THE CONTROLLERSHOULD HAVE SAME ORDER NUMBER. Check that the manipulator

and the DX200 have the same order number

(a) DX200 (Front View)

(b) Manipulator(Side View)(On the manipulator manufactured by Jul. 2016)

(b) Manipulator(Top View)(On the manipulator manufactured after Aug. 2016)

AA

ORDER.NO.SHOULD HAVE SAME ORDER NUMBER.THE MANIPULATOR AND THE CONTROLLER

ORDER.NO.SHOULD HAVE SAME ORDER NUMBER.THE MANIPULATOR AND THE CONTROLLER

Sectional View A-A (Enlarged View)

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2 Transport2.1 Transport Method

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2 Transport

2.1 Transport Method

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.

NOTE

• Check that the eyebolts are securely fastened.

• The weight of the manipulator is approximately 580 kg including the shipping bolts and brackets. Use a wire rope strong enough to withstand the weight.

• Attached eyebolts are designed to support the manipulator weight. Do not use them for anything other than transporting the manipulator.

• 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.

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2.1.1 Using a Crane

As a rule, the manipulator should be lifted by a crane with a four-leg brindle sling using the attached eyebolts 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 bracket

Hexagon socket head cap screw M12 (8 screws)

Delivered with the manipulator

AxisAnglePulse

Factory setting for angle and pulse of each axis

-159547

S L U R B T-80 0

000

-90 -90 -90-144384 70167 68867

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2.1.2 Using a Forklift

When using a forklift, the manipulator should be fixed on a pallet with 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

Delivered with the manipulatorShipping pracket

Forklift claw entry

PalletBolt M20 (8 bolts)

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2 Transport2.2 Shipping Bolts and Brackets

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2.2 Shipping Bolts and Brackets

The manipulator is provided with shipping bolts and a shipping brackets.

(See Fig. 2-1 “Transporting Position”.)

• The shipping bolts and bracket are painted yellow.

NOTEBefore turning ON the power, make 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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3 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.

CAUTION

• Do not install or operate a 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 are removed.

Failure to observe this caution may result in damage to the driving parts.

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3 Installation3.1 Installation of the Safeguarding

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3.1 Installation of the Safeguarding

To insure safety, be sure to install safeguarding. They prevent unforeseen accidents with personnel and damage to equipment. The following is quoted for your information and guidance.

Responsibility for Safeguarding (ISO10218)

The user of a manipulator or robot system shall ensure that safeguarding is provided and used in accordance with Sections 6, 7, and 8 of this standard. The means and degree of safeguarding, including any redundancies, shall correspond directly to the type and level of hazard presented by the robot system consistent with the robot application. Safeguarding may include but not be limited to safeguarding devices, barriers, interlock barriers, perimeter guarding, awareness barriers, and awareness signals.

3.2 Mounting Procedures for Manipulator Base

The manipulator should be firmly mounted on a baseplate or foundation strong enough to support the manipulator and withstand reaction forces during acceleration and deceleration.

Construct a solid foundation with the appropriate thickness to withstand maximum reaction forces of the manipulator referring to Table 3-1 “Manipulator Reaction Force and Torque”.

A baseplate flatness must be kept at 0.5 mm or less: insufficient flatness of installation surface may deform the manipulator shape and affect its functional abilities. Mount the manipulator base as instructed in section 3.2.1 “Mounting Example” or section 3.2.2 “When the Manipulator is Mounted Directly on the Floor”.

Fig. 3-1: Manipulator Reaction Force and Torque

Table 3-1: Manipulator Reaction Force and Torque

Horizontal rotation Vertical rotation

Reaction force FHTorque MH Reaction force FV Torque MV

Emergency stop 23544 N(2400kgf)

24525 N•m(2500 kgf•m)

27468 N(2800 kgf)

45126 N•m(4600 kgf•m)

Acceleration/deceleration 5886 N(600 kgf)

6131 N•m(625 kgf•m)

5396 N(550 kgf)

11282 N•m(1150 kgf•m)

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3 Installation3.2 Mounting Procedures for Manipulator Base

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3.2.1 Mounting Example

For the first process, anchor the baseplate firmly to the ground. The baseplate should be rugged and durable to prevent shifting of the manipulator or the mounting fixture. It is recommend to prepare a baseplate of 50 mm or more thick, and anchor bolts of M20 or larger size.

The manipulator base is tapped for eight mounting holes; securely fix the manipulator base to the baseplate with hexagon head screws M20 (70 mm long is recommended).

Next, fix the manipulator base to the baseplate. Tighten the hexagon head screws and anchor bolts firmly so that they will not work loose during the operation.

Refer to Fig. 3-2 “Mounting the Manipulator Baseplate”.

Fig. 3-2: Mounting the Manipulator Baseplate

Flat level0.5mm or less

Hexagon head screw M20(8screws)

Manipulator baseSpring washer

Washer

Baseplate

Anchor bolt M20 or more

Baseplate

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3 Installation3.2 Mounting Procedures for Manipulator Base

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3.2.2 When the Manipulator is Mounted Directly on the Floor

The floor should be strong enough to support the manipulator. Construct a solid foundation with the appropriate thickness to withstand maximum reaction forces of the manipulator. As a rough standard, when there is a concrete thickness (floor) is 200 mm or more, the manipulator base can be fixed directly to the floor with M 20 anchor bolts. Before mounting the manipulator, however, check that the floor is level and that all cracks, etc. are repaired. Any thickness less than 200 mm is insufficient for mounting, even if the floor is concrete.

Fig. 3-3: Direct Mounting on the Floor

600

900

800

720

385

320

300300

400

230 Bolt A

Tapped hole M20 (8 holes)

Bolt BTapped hole M24 (4holes) (Base B)28dia. (4 holes) (Base A)

28dia. (4 holes) (Base B)

Base B

Base A

Bolt A: Bolt M20 X 70 mm (8 bolts),Spring Washer, Flat Washer

Tightening bolts or bases are prepared by the customer.

FL

Leveling is required

32

3625

0

35020

0

100 100200JA Base bolt

M24 X315mm

Weld after adjusting the installation

10

Manipulator base

Units: mm

Bolt B: Bolt M24 X 70 mm (4 bolts),Spring Washer, Flat Washer

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3 Installation3.3 Types of Mounting

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MH50II

3.3 Types of Mounting

The MOTOMAN-MH50 II is available in three ways: floor-mounted (standard), wall-mounted and ceiling-mounted way. For wall-mounted and ceiling-mounted ways, the three points listed below are different from the floor-mounted way.

• 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 way, 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 ways, be sure to use eight hexagon socket head cap screws M20 (tensile strength: 1200 N/mm2 or more) when fixing the manipulator base. Use a torque of 402 N•m (41 kgf•m) when tightening the screws.

3.3.3 Precautions to Prevent the Manipulator from Falling

For the wall- or ceiling-mounted ways, take appropriate measures to avoid the falling of the manipulator in case of emergency. Refer to Fig. 3-4 “Precaution Against Falling” for details.

Fig. 3-4: Precaution Against Falling

NOTE When used in the wall mounted position, install the manipulator so that a connector base becomes the top.

NOTE

In case of using the wall-/ceiling-mounted way, 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.

Manipulator base

Support for fall prevention

Hexagon socket head cap screw M20 (8 screws)(Tensile strength: 1200 N/mm2 or more)

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3 Installation3.4 Protection Class

MH50II

3.4 Protection Class

For the standard type, environmental resistance for main part of the manipulator conforms to IP54; the wrist part conforms to IP67.

For the main part of environmental resistance, IP65 is also available as optional.

3.5 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 (non-condensing)

• Free from dust, soot, oil, or water

• Free from corrosive gas or liquid, or explosive gas or liquid.

• Free from excessive vibration (4.9 m/s2 [0.5G] or less)

• Free from large electrical noise (plasma)

• The flatness for installation is 0.5 mm or less

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4 Wiring4.1 Grounding

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MH50II

4 Wiring

4.1 Grounding

Follow the local regulations and electrical installation standards for grounding. A 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.

Fig. 4-1: Grounding Method

WARNING• Ground resistance must be 100 Ω 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

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.

5.5mm or more2

Delivered with the manipulatorBolt M8 (for grounding)

View A

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4 Wiring4.2 Cable Connection

MH50II

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 “Manipulator Cables”.)

Connect these cables to the manipulator base connectors and to the DX200. Refer to Fig. 4-3(a) “Manipulator Cable Connectors (Manipulator Side)” and Fig. 4-3(b) “Manipulator Cable Connectors (DX200 Side)”.

4.2.1 Connection to the Manipulator

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

4.2.2 Connection to the DX200

Before connecting cables to the DX200, verify the numbers on both manipulator cables and the connectors on the DX200. When connecting, insert the cables in the order of X21, then X11, and depress each lever low until it clicks.

Fig. 4-2: Manipulator Cables

2BC

X11

1BC

1BC

X212BC

X11 1BC

X21

2BC

The DX200 side The Manipulator side

Encoder cable

Power cable

The DX200 side The Manipulator side

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4 Wiring4.2 Cable Connection

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MH50II

Fig. 4-3(a): Manipulator Cable Connectors (Manipulator Side)

Fig. 4-3(b): Manipulator Cable Connectors (DX200 Side)

AIR

1BC

2BC

AIR

1BC

2BC

X11

X21

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5 Basic Specifications5.1 Basic Specifications

MH50II

5 Basic Specifications

5.1 Basic Specifications

Table 5-1: Basic Specifications1)

1 SI units are used in this table. However, gravitational unit is used in ( ).

Item Model MOTOMAN-MH50 II

Structure Vertically Articulated

Degree of Freedom 6

Payload 50 kg

Repeatability2)

2 Conformed to ISO9283

±0.07 mm

Range of Motion S-Axis (turning) -180° − +180°

L-Axis (lower arm) -90° − +135°

U-Axis (upper arm) -170° − +251°

R-Axis (wrist roll) -360° − +360°

B-Axis (wrist pitch/yaw) -125° − +125°

T-Axis (wrist twist) -360° − +360°

Maximum Speed S-Axis 3.14rad/s, 180°/s

L-Axis 3.11 rad/s, 178°/s

U-Axis 3.11 rad/s, 178°/s

R-Axis 4.36 rad/s, 250°/s

B-Axis 4.36 rad/s, 250°/s

T-Axis 6.28 rad/s, 360°/s

Allowable Moment3)

3 Refer to section 6.1 “Allowable Wrist Load” for details on the permissible moment of inertia.

R-Axis 216 N•m (22 kgf•m)

B-Axis 216 N•m (22 kgf•m)

T-Axis 147N•m (15 kgf•m)

Allowable Inertia(GD2/4)

R-Axis 28 kg•m2

B-Axis 28 kg•m2

T-Axis 11 kg•m2

Approx. Mass 550 kg

Protective Structure Basic axis: IP54 or equivalentWrist axis only: IP67 or equivalent

Ambient Conditions Temperature 0° to 45°C

Humidity 20 to 80% RH at constant temperature

Vibration Acceleration Less than 4.9 m/s2 (0.5 G)

Others Free from corrosive gas or liquid, or explosive gas.Free from water, oil, or dust.Free from excessive electrical noise (plasma).

Power Capacity 4.0 kVA

Noise4)

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.

76 dB

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5 Basic Specifications5.2 Part Names and Working Axes

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MH50II

5.2 Part Names and Working Axes

Fig. 5-1: Part Names and Working Axes

5.3 Baseplate Dimensions

Fig. 5-2: Baseplate Dimensions

T+

T-B-

B+R+

R-U-

U+

L- L+

S-

S+

Wrist

Wrist flange

L-arm

U-arm

Rotary head

Manipulator base

30

153 455

608

455

195

385

320

0.1

195

230

22 dia.(8 holes)

View A

+0.018 012 dia. (2 holes)

230

400

195

Base dimensions

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5 Basic Specifications5.4 Dimensions and P-Point Maximum Envelope

MH50II

5.4 Dimensions and P-Point Maximum Envelope

Fig. 5-3: Dimensions and P-Point Maximum Envelope

View A

P-point maximum envelope

P-point

A

R206118

0°

180°

253343

210

870

540

187

1807

R543

8721360510561771 248 530 543 206138320

145 1025 175

437

925

2456

460

1121

3578

0118

1369

453

0105 105

57

223.

540

234234

R377

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5 Basic Specifications5.5 Stopping Angles and Times for S-, L-, and U-Axes

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5.5 Stopping Angles and Times for S-, L-, and U-Axes

Following data on stopping angle and time for each axis measured under the standard of ISO10218.

5.5.1 Stop Category 0: Stopping Angles and Times

5.5.1.1 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

0.0

0.1

0.2

0.3

0.4

0.5

Speed[deg/s]

Load100% Load66% Load33%

0

5

10

15

20

25

30

35

Speed[deg/s]


Stop Category 0, Position 100%

Sto

ppin

g an

gle[

deg]


Sto

ppin

g an

gle[

deg]

0 40 80 120 160 200 0 40 80 120 160 200

0

5

10

15

20

25

30

35

0.0

0.1

0.2

0.3

0.4

0.5

0.6

Speed[deg/s]Speed[deg/s]



Sto

ppin

g an

gle[

deg]



Sto

ppin

g an

gle[

deg]

0 40 80 120 160 200 0 40 80 120 160 200

0

5

10

15

20

25

30

35

Speed[deg/s]

Sto

ppin

g an

gle[

deg]


0.0

0.1

0.2

0.3

0.4

0.5

Speed[deg/s]

Sto

ppin

g tim

e[se

c]


Stop Category 0, Position 100% Stop Category 0, Position 100%

0 40 80 120 160 200 0 40 80 120 160 200

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5.5.1.2 Position 66%


(a)S-Axis

(b)L-Axis

(c)U-Axis

0.0

0.1

0.2

0.3

0.4

0.5


0

5

10

15

20

25

30

35



Sto

ppin

g an

gle[

deg]

Sto

ppin

g an

gle[

deg]

Speed[deg/s]Speed[deg/s]0 40 80 120 160 200 0 40 80 120 160 200

0

5

10

15

20

25

30

35

Speed[deg/s]


0.0

0.1

0.2

0.3

0.4

0.5

0.6

Speed[deg/s]

Sto

ppin

g tim

e[se

c]



Sto

ppin

g tim

e[se

c]

0 40 80 120 160 200 0 40 80 120 160 200

0

5

10

15

20

25

30

35

Speed[deg/s]

Sto

ppin

g an

gle[

deg]


0.0

0.1

0.2

0.3

0.4

0.5

Speed[deg/s]

Sto

ppin

g tim

e[se

c]


Stop Category 0, Position 66%Stop Category 0, Position 66%

0 40 80 120 160 2000 40 80 120 160 200

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5.5.1.3 Position 33%


(a)S-Axis

(b)L-Axis

(c)U-Axis

0.0

0.1

0.2

0.3

0.4

0.5

Speed[deg/s]

Sto

ppin

g tim

e[se

c]


0

5

10

15

20

25

30

35

Speed[deg/s]

Sto

ppin

g an

gle[

deg]



0 40 80 120 160 2000 40 80 120 160 200

0

5

10

15

20

25

30

35

Speed[deg/s]

Sto

ppin

g an

gle[

deg]


0.0

0.1

0.2

0.3

0.4

0.5

0.6

Speed[deg/s]

Sto

ppin

g tim

e[se

c]



0 40 80 120 160 200 0 40 80 120 160 200

0

5

10

15

20

25

30

35

Speed[deg/s]

Sto

ppin

g an

gle[

deg]


0.0

0.1

0.2

0.3

0.4

0.5

Speed[deg/s]

Sto

ppin

g tim

e[se

c]



0 40 80 120 160 200 0 40 80 120 160 200

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5.5.2 Stop Category 1: Stopping Angles and Times

Fig. 5-7: Stop Category 1: Stopping Angle and Time for Each Axis

NOTE Stopping angles and times at Stop Category 1 are not subjected to the position and the load of the manipulator.

(a)S-Axis

Notes) Not depends on the position and the load.

(b)L-Axis


(c)U-Axis


0.0

0.1

0.2

0.3

0.4

0.5

0.6

0.7

Speed[deg/s]S

topp

ing

time[

sec]

0

10

20

30

40

50

60

Speed[deg/s]

Sto

ppin

g an

gle[

deg]

0 40 80 120 160 2000 40 80 120 160 200

Stop Category 1 Stop Category 1

0.0

0.1

0.2

0.3

0.4

0.5

0.6

0.7

Speed[deg/s]

Sto

ppin

g tim

e[se

c]

0

10

20

30

40

50

60

Speed[deg/s]

Sto

ppin

g an

gle[

deg]

0 40 80 120 160 2000 40 80 120 160 200

Stop Category 1Stop Category 1

0.0

0.1

0.2

0.3

0.4

0.5

0.6

Speed[deg/s]

Sto

ppin

g tim

e[se

c]

0

10

20

30

40

50

60

Speed[deg/s]

Sto

ppin

g an

gle[

deg]

Stop Category 1

0 40 80 120 160 2000 40 80 120 160 200

Stop Category 1

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5 Basic Specifications5.6 Alterable Operating Range

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MH50II

5.6 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.

5.6.1 Necessary Parts

When altering the operating range of the S-axis, following parts shown in Fig. 5-8 “S-Axis Mechanical Stopper” are necessary in addition to the already delivered parts.

(1) Hexagon socket head cap screw M20 (length: 40 mm)

(Tensile strength: 1200 N/mm2) x 1 screw (for the mechanical stopper)

(2) Collar (drawing No. HW9405875-2) x 1

(3) Pin (drawing No. HW9405032-2) x 1

(4) Washer M6X3

Note:((3), (4) only): Necessary only when the manipulator is equipped with the S-axis overrun limit switch.

Fig. 5-8: S-Axis Mechanical Stopper

Table 5-2: S-Axis Operating Range

Item Specifications

S-Axis Operating Range -180° - +180°(standard)-165° - +165°-150° - +150°-135° - +135°-120° - +120°-105° - +105°-90° - +90°-75° - +75°-60° - +60°-45° - +45°-30° - +30°-15° - +15°

CollarHW9405875-2

Hexagon socket head cap screw M20 (length: 40 mm)(Stopper)

PinHW9405032-2(Necessary only when the manipulator is equipped with the S-axis overrun limit switch)

Washer M6×3(Necessary only when the manipulator is equipped with the S-axis overrun limit switch)

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5.6.2 Notes on the S-Axis Mechanical Stopper Installation

Mount the collar (drawing No. HW9405875-2) to the hexagon socket head screws M20 (length: 40 mm) (Tensile strength: 1200N/mm2). Then, as shown in Fig. 5-8 “S-Axis Mechanical Stopper”, mount the S-axis mechanical stopper to the S-head using the collar with the screws with the tightening torque of 167 N•m (17 kgf•m).

The S-axis mechanical stopper can be mounted in every 15-degree pitch as shown in Fig. 5-9 “S-Axis Stopper Mounting Position”.

When the manipulator is equipped with the S-axis overrun limit switches, install the pins (drawing No. HW9405032-2) and washer M6 to the same degree positions as the hexagon socket head screws.

Fig. 5-9: S-Axis Stopper Mounting Position

A A

Section A-A

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5.6.3 Alteration of the S-Axis Pulse Soft Limit

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.

Pulse limit (positive (+) direction of the S-axis): S1CxG400

Pulse limit (negative (-) direction of the S-axis): S1CxG408

Degree 0° -15°− +15° -30°− +30° -45°− +45° -60° − +60°

Pulse 0 -21203 -

+21203

-42406 -

+42406

-63609-

+63609

-84812 -

+84812

Degree -75°− +75° -90°− +90° -105°− +105° -120°− +120° -135° − +135°

Pulse -106015 -

+106015

-127217 -

+127217

-148420 -

+148420

-169623-

+169623

-190826 -

+190826

Degree -150°− +150° -165°− +165° -180° − +180° (Standard)

Pulse -212029 -

+212029

-233232-

+233232

-254434 -

+254434

NOTE

Please do not alter the range of motion with the software only, but in combination with the mechanical stopper.

Also, when executing the alteration, be sure to uniform the range.

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6 Allowable Load for Wrist Axis and Wrist Flange6.1 Allowable Wrist Load

MH50II

6 Allowable Load for Wrist Axis and Wrist Flange

6.1 Allowable Wrist Load

The allowable wrist load is 50 kg. 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.

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

Table 6-1: Allowable Wrist Load

Axis Moment N•m (kgf•m)1)

1 ( ): Gravitational unit

GD2/4 Total Moment of Inertia kg•m2

R-Axis 216 (22) 28

B-Axis 216 (22) 28

T-Axis 147(15) 11

10kg

20kg

30kg

1200

1000

800

18001600140012001000

1200

1000

800

40kg50kg

LB(mm)

T- and R-axes center of rotation

B-axis center of rotation

800

600

400

200

400

200

400

600

600

LT(mm)

P-point

LT(mm)

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6 Allowable Load for Wrist Axis and Wrist Flange6.2 Wrist Flange

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6.2 Wrist Flange

The wrist flange dimensions are shown in Fig. 6-2 “Wrist Flange”. In order to see the alignment marks, it is recommended that the attachment be mounted inside the fitting. Fitting depth of inside and outside fittings must be 5 mm or less.

Fig. 6-2: Wrist Flange

8 dia Unit mm

Tpped hole M8

Alignment mark

6 dia. +0.012 0

50 d

ia.

0 -0.0

25

(depth: 10mm)

(depth:14 mm) (pitch:1.25) (6 holes)(depth: 14mm)

+0.015 0

100

dia.

0 -0.0

22P.C.D.80

4240

6

8

NOTE Wash off anti-corrosive paint (yellow) on the wrist flange surface with thinner or light oil before mounting the tools.

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7 System Application7.1 Peripheral Equipment Mounts

MH50II

7 System Application

7.1 Peripheral Equipment Mounts

The peripheral equipment mounts are provided on the U-axis (upper arm) and S-axis (rotary head) as shown in Fig. 7-1 “Installing Peripheral Equipment” for easier installation of the users’ system applications. The following conditions should be observed to attach or install peripheral equipment.

Fig. 7-1: Installing Peripheral Equipment

Tapped hole M8 (4 holes)(pitch: 1.25) (depth: 16)



200 513100

50

100

180 60

100 98.550

50

6060

4022

3.5

18757

105105

10

A

A B

C

ViewA Details in instllation and tap part

Mount the peripheralequipment with in this range

Table 7-1: Constraint for Attaching

Section Application Note

A Cable processing Up to 50 kg for attaching load mass including wrist load.

B Cable processing and valve load Up to 10 kg.49 N•m (5 kgf•m) max. for increased moment amount of upper arm

C Transfer, etc. load Up to 30 kg (Floor-, ceiling-mounted type only)

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7 System Application7.2 Internal User I/O Wiring Harness and Air Line

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7.2 Internal User I/O Wiring Harness and Air Line

Internal user I/O wiring harness (0.5 mm2 x 23), an air line and tube for field bus cable are incorporated in the manipulator for the drive of peripheral device 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 23 are assigned as shown in Fig. 7-2. Wiring must be performed by users.

Fig. 7-2: Connectors for Internal User I/O Wiring Harness and Air Line

The same pin-number connectors (1 to 23) at both connector base part and arm part are connected with the single wire lead of 0.5 mm2.

The allowable current for internal user I/O wiring harness

5.1 A or less for each wire(The total current value for pins 1 to 23 must be 34.5A or less.)

The maximum pressure for the air line 490 kPa (5 kgf/cm2) or less(The air line inside diameter: 8.0 mm.)

Connector for Internal User I/O Wiring Harness

Pins used

Internal user I/O wiring harness : 0.5 mm2, 23 lead wires

A

Exhaust port

Air inlet Tapped hole PT3/8 with pipe plug

Connector for internal user I/O wiringharness: JL05-2A24-28SC (socket connector with a cap).Prepare pin connector JL05-6A24-28P.

Connector for internal user I/O wiringharness: JL05-2A24-28PC (socket connector with a cap).Prepare pin connector JL05-6A24-28S.

Tube for field bus cable (inside dia.:12)(inside of the manipulator base)

View A

Tapped hole M4x3 (4 holes)

Tapped hole M4x3 (4 holes)(pitch: 0.7) (depth: 3)

(pitch: 0.7) (depth: 3)

Tapped hole PT3/8 with pipe plug

8

4965

1

7

2 3

1419 20

1517

11 1218

13

21 22 23

1016

P

P

P

P

P

P

P

P

P

P

P 1

65

34

2

78910

1514131211

2019

1718

16

2223

21

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8 Electrical Equipment Specification8.1 Position of Limit Switch

MH50II

8 Electrical Equipment Specification

8.1 Position of Limit Switch

8.1.1 Specification of Limit Switch

1. The interference limit switch at S-, L- and U-axes electrically limit the operating range of respective axes by adjusting the position of the dog using the limit switch.The positions of the mechanical limits (mechanical stoppers) at S-axis is changeable.When the limit switch is activated, the power supply to the manipulator is interrupted, then the manipulator makes an emergency stop as a result. Refer to section 8.9 “Overrun/Tool Shock Sensor Releasing” in “DX200 INSTRUCTIONS” for releasing the status of this overrun.

2. The range of S-, L- and U-axes limit switches are set to the maximum operating range before shipping.

8.1.2 Location of Limit Switch

The limit switches are optional. See Fig. 8-1 “Location of Limit Switches”.

Fig. 8-1: Location of Limit Switches

NOTEIn case of re-adjusting the operating range of each subject axis, it is also required to change the dog location and limit values in software. Contact your YASKAWA representative if re-adjustment is required.

AIR

1BC

2BC

L-and U-axes interference L.S.

S-axis overrun L.S.

L-axis overrun L.S.

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8.1.3 Setting of Operation Range

8.1.3.1 S-Axis Operation Range

By the S-axis limit switch, S-axis operation range can be set to those ranges mentioned in Table 5-2 “S-Axis Operating Range”.

8.1.3.2 L-Axis Operation Range

By the L-axis limit switch, the L-axis operation range can be set to any angles within -91° to +136° as mentioned in the figure below.

Fig. 8-2: L-Axis Overrun Limit Switch Setting Range

Negative side Positive side

L-axis center of rotation

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8.1.3.3 Setting Range of LU-Axes Interference Angle

L- and U-axes interference limit switches are designed to check the interference angle of L- and U-axes.

As shown in Fig. 8-3 “LU-Axes Interference Angle”, the operation range of U-axis can be set to any angles within +9° to +297° as the interference angle with L-axis.

Fig. 8-3: LU-Axes Interference Angle

U-axis center of rotation

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8 Electrical Equipment Specification8.2 Internal Connections

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MH50II

8.2 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. 8-4 “Location and Numbers of Connectors” and Table 8-1 “List of Connector Types”.

Diagrams for internal connections of the manipulator are shown inFig. 8-5(a) “Internal Connection Diagram” and Fig. 8-5(b) “Internal Connection Diagram” .

Fig. 8-4: Location and Numbers of Connectors

AIR

1BC

2BC

1BC2BC

Internal userI/O wiring harness

Internal userI/O wiring harness

Table 8-1: List of Connector Types

Name Type of Connector

Connector for the internal user I/O wiring harness on the connector base

JL05-2A24-28PC(JL05-6A24-28S: Optional)

Connector for the internal user I/O wiring harness on the U-arm

JL05-2A24-28SC(JL05-6A24-28P: Optional)

8-4 HW1482719 48 of 82

8 Electrical Equipment Specification8.2 Internal Connections

169858-1CD

HW1482719

MH50II

Fig. 8-5(a): Internal Connection Diagram

with Limit Switch Specification

ation

L-AXIS

TT

5

T-AXISTT

6

VPG

T

TA-6

T

TA+6

B-AXIS

TA+5TA-5

VTT

PG

TT

4

U-AXIS

R-AXISV

TT

TA-4TA+4

PG

S-AXIS

A1

A2

A3

Connected to .

Connected to .

Connected to .

Connected to .

Connected to .

Connected to .

Connected to .

Connected to .

B1B2

B3

A1

B1

FOR LAMP(OPTION)

RUN L.S.

U-AXIS INTERFERENCE L.S.

LA1

RUN L.S.

U-AXIS INTERFERENCE L.S.

S-AXIS OVERRUN L.S.

S-AXIS OVERRUN L.S.

LA1

3B3

49 of 82
8-5
S-axis

SLU-axes with Limit Switch Specific

BASE CASING

DC

/DC

No.4CN4CN-1

No.5CN5CN-1

No.6CN6CN-1

OBT-5P0BAT2-2

E

CN4-3CN4-8

SS2

BC2

CN4-2CN4-7

+24VLB1

CN4-1CN4-6

P CN4-8

PCN4-2CN4-7

CN4-3 BC2

CN4-1

P CN4-6+24VLB1

E MANIPULATOR

E

BC2BC1

CN3-3

CN3-7

FG6CN3-8

SPG+6SPG-6

CN3-6

SPG+5CN3-1SPG-5

FG5

CN3-2

FG4CN2-8

CN3-8 FG6

P CN3-7CN3-6

SPG-6SPG+6

SPG+5P CN3-2

CN3-3

SPG-5

FG5

CN2-8

CN3-1

FG4

SPG-4SPG+4

CN2-7CN2-6

FG3CN2-3

SPG+3SPG-3

CN2-1CN2-2

FG2CN1-8

PCN2-6CN2-7 SPG-4

SPG+4

CN2-3 FG3

PCN2-1CN2-2

SPG+3SPG-3

CN1-8 FG2

PPG0V4-4

BAT5

PG5V50BAT5

PG0V5

BAT60BAT6

PG0V6PG5V6

-1

-4-3-2

No.23CN

-1

-3-2

-4

No.22CN

P

P

PT

P

P

P

B

BAT3

PG5V2PG0V2

0BAT3

BAT4

PG0V3

PG5V40BAT4

PG5V3-3

-1

-3-2

No.21CN

-4

-1-2

No.20CN

-3-4

+5V-4

P

P

R

PFG3

BATOBT

0V-10-9

P

PU

P

BATOBT

DATA+3DATA-3

No.3CN3CN-1

-6-5

-2

+5V

FG2

OBTBAT

0V-9-4

-10

8

CN1-2

SPG+2SPG-2CN1-7

CN1-6

FG1CN1-3

DX200

CN1-4

+24V

SPG+1SPG-1

0VCN1-9

CN1-1

CN1-10

+24V0V

CN1-5

PCN1-6CN1-7

SPG+2SPG-2

CN1-3 FG1

P

P

CN1-10CN1-9

CN1-1CN1-2

+24V0V

SPG+1SPG-1

P CN1-4CN1-5 +24V

0V

1BC(10×4)

0V+24V

-4-2 2

4

0V+24V-1

No.24CN

-313

X

6BATP BAT21

23

654

7

BAT0BT

P 8

1

7BAT220BAT22

4BATP BAT12

0BT 5 0BAT21

0BT

0BTBATP

1

32

0BAT11BAT110BAT12

6 PG5V3

BAT1

BAT2

0BAT1

PG0V1PG5V1

-1No.19CN

-1-2

-4-3

13141516

7

9101112

8PG0V4

PG0V5PG5V5PG0V6PG5V6

PG5V4

No.18CN

PL

P

P

OBTBAT

BAT

DATA+2DATA-2-2

-6

2CN-1No.2CN

OBTBAT

FG1

+5V0V

-6-5

-10-9-4

PSDATA+1DATA-1-2

No.1CN1CN-1

26 BAT4

321

432

5

PG0V1PG5V1

PG5V2PG0V2

PG0V3

31

28

3029

27BAT5

BAT60BAT6

0BAT5

20 BAT2

2322

2524

21BAT3

0BAT4

0BAT3

17

1918

0BAT1BAT10BAT2

PG

OBBA

-9 0V

-10 FG

-5-6

-9-4

-10

OBBA

0VFG

+5

-2

OB

DA

BA

DA

DA-2

-4-5-6

-9

DA

0V+5OBBA

-10

BAOB

FG

-2-6

-4-5

+5

BAOB

DADA

PG

PG

CN4-10 0V CN4-10

CN4-9

CN3-10CN3-9

LD1+24V

CN2-9CN2-5CN2-4

CN3-5CN3-4

CN2-10

CN3-9CN3-10

CN3-5CN3-4

CN2-4CN2-5CN2-9CN2-10

CN4-5CN4-4 P CN4-5

CN4-4

CN4-9

P

P

0V

P

LB1LA1

LB2LB1

LD2LD1

+24VLD1

LD1LC1

9

161718

1110

141513

12

3

54

78

6

21

P

P

P

SP910

SP1617 SP17SP1818

SP10SP11

SP15SP14SP13

SP121112

16151413

4 SP4SP55

6

SP8SP7

987

SP6

SP3SP2SP11

23

No.8CN(24-28)S1(24-28)

P

P

P

P

P

P

1920

19 SP19SP2020P

2122

21 SP21SP2222P

23 23 SP23

+24V

LA2LB2LB2

LB1

LD1LD2 LD2

LC2

S-AXIS OVERRUN L.S.

L-AXIS OVER

L AND

LB1

LB2 LB2LA2

LB1

S-AXIS OVERRUN L.S.

L-AXIS OVER

L AND

LC1LD1

LD2 LD2LC2

LD1

LA1LB1LB1

LC1LD1LD1

LC1

LD1

LD1LD2

LD3LC3

LB1

LB1LB2

LB3LA3

LC1

LA1

LB3LA3

LD3LC3

A2B2

A

A1

B1

169858-1CD

HW1482719

8 Electrical Equipment Specification8.2 Internal ConnectionsMH50II

Fig. 8-5(b): Internal Connection Diagram

E6

B6A6

W6V6U6

E5A5B5

W5V5

U4

U5

A4B4

E4W4V4

T-AXISYB

SM

B-AXISSM

YB

R-AXISSM

YB

ME3

BB3BA3

MU3MV3MW3

MV2

ME2

BA2

MW2

BB2

MU2

BB1

ME1

BA1

MV1MU1

MW1

YB

SM U-AXIS

SM

YB

L-AXIS

YB

SM S-AXIS

50 of 82
8-6
PE

2BC(8X4+12X2)2BCE E

M

BB

M-PE

-5-4

-1MM

No.14CN14CN-3

-2

MBB

MM

-PE-4-5

-1-2

12CN-3 M

MNo.13CN13CN-3

BB

MMM

-4-PE-1-2

-5

No.12CN

CN6-3

CN6-5CN6-6

CN6-8

CN6-7

CN6-4

CN6-1CN6-2

CN5-1

CN4-8

CN4-4

CN4-5

CN4-3

CN4-7CN4-6

CN3-3

CN3-6

CN3-8

CN4-1

CN3-7

CN4-2

CN3-4

CN3-5

CN3-2CN3-1

CN2-4

CN2-6CN2-5

MU4

MW3

-D

-1-2

11CN-ANo.11CN

-B-C

-B

-D

-1

-C

-2

No.10CN10CN-ACN2-2

CN2-3

CN2-1

CN1-1

MW1

MU2MU2

MU1

MW1MV1MV1

MU1CN1-1

-2

-D

-1

-B9CN-ANo.9CN

-C

CN6-11CN6-12

CN6-10CN6-9

CN1-2CN1-3CN1-4CN1-5CN1-6

CN1-7CN1-8

CN1-2CN1-3CN1-4CN1-5CN1-6

CN1-7CN1-8

CN2-4

CN2-6CN2-5

CN2-2CN2-3

CN2-1

MW2

MV3MU3

MW2MV2MV2

CN2-7

CN2-8

CN2-7

CN2-8

CN5-2

CN5-3CN5-4

CN5-6

CN5-7

CN5-8

CN5-5

CN3-3

CN3-6

CN3-8

CN3-7

CN3-4

CN3-5

CN3-2CN3-1

MV6

MW4

MW6

MV4

MU6

MU5MV5MW5

CN4-8

CN4-4

CN4-5

CN4-3

CN4-7CN4-6

CN4-1CN4-2

CN5-1CN5-2

CN5-3CN5-4

CN5-6

CN5-7

CN5-8

CN5-5

ME1ME1

ME2ME2

ME3

ME4

ME5

CN6-3

CN6-5CN6-6

CN6-8

CN6-7

CN6-4

CN6-1CN6-2

CN6-11CN6-12

CN6-10CN6-9

BA2

BA4BB4

BA5

BA6

BA3

BA1BB1

ME6

MU4

MW3

MW1

MU2MU2

MU1

MW1MV1MV1

MU1

MW2

MV3MU3

MW2MV2MV2

MV6

MW4

MW6

MV4

MU6

MU5MV5MW5

ME1ME1

ME2ME2

ME3

ME4

ME5

BA2

BA4BB4

BA5

BA6

BA3

BA1BB1

ME6

169858-1CD

9 Maintenance and Inspection9.1 Inspection Schedule

MH50II

9 Maintenance and Inspection

9.1 Inspection Schedule

Proper inspections are essential not only to assure that the mechanism will be able to function for a long period, but also to prevent malfunctions and assure safe operation. Inspection intervals are classified into six levels as shown in Table 9-1 “Inspection Items”.

In Table 9-1 “Inspection Items”, the inspection items are classified into three types of operation: 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.

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.

NOTE

• The inspection interval depends on the total servo operation time.

• 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.

9-1 HW1482719 51 of 82

9-2

169

85

8-1C

D

HW

1482719

9M

ainten

ance a

nd In

spection

9.1

Inspection

Sch

edu

leM

H50II

Inspection

Charge

Sp

ecif

ied

Lic

en

see

Ser

vice

home position. • • •ads. • • •resent. Check for • • •

• • •. • • •. • • •

• • •• • •

onnecter of basely shaking the wire.

• •

•. • •

y alarm occurs or the • •ary.) 4)

ction 9.3.2.

• •

52 of 82

Table 9-1: Inspection Items (Sheet 1 of 2)

Items1) Schedule Method Operation

Dai

ly

100

0HC

ycle

600

0HC

ycle

120

00H

Cy

cle

240

00H

Cy

cle

360

00H

Cy

cle

1 Alignment mark • Visual Check alignment mark accordance at theCheck for damage.

2 External lead • Visual Check for damage and deterioration of le

3 Working area andmanipulator

• Visual Clean the work area if dust or spatter is pdamage and outside cracks.

4 S,L,U,R,B,T-axes motor • Visual Check for grease leakage.2)

5 Baseplate mounting bolts • SpannerWrench

Tighten loose bolts. Replace if necessary

6 Cover mounting screws • Screwdriver, Wrench


7 S,L,U,R,B,T-axes motor connector • Manual Tighten loose bolts.

8 Connector base • Manual Check for loose connectors.

9 Wire harness in manipulator

• Visual Multimeter Check for conduction between the main c and intermediate connector with manualCheck for wear of protective spring3)

• Replace it 24000H intervals.

10 Limit switches and dogs (S,L,U-axes)

• Screwdriver, Wrench, Multimeter


11 Battery pack in manipulator • Replace the battery pack when the batter

manipulator drove for 36000H.

12 S-axis speed reducer • • Grease Gun Check for malfunction. (Replace if necessSupply grease (6000H cycle)5) Replace grease. (12000H cycle) 5)See se

9-3

16

985

8-1C

D

HW

1482719

9M

ainte

nan

ce a

nd In

spe

ction

9.1

Insp

ection S

ched

uleM

H5

0II

13 )

.3.3, and

• •

14 )

9.3.5

• •

15 )

3.6.

• •

16 •1 In2 Th tor breakdown.

C3 W r each axis, and then remove

co .)4 Th uently for the application such

as5 Fo

Table

No.

13,1

Table

Item Inspection

Charge

Sp

ecif

ied

Lic

ens

ee

Ser

vice

53 of 82

LU-axes speed reducers • • Grease Gun Check for malfunction. (Replace if necessary.) 4

Supply grease (6000H cycle)5).Replace grease (12000H cycle)5). See section 9section 9.3.4.

R-axis speed reducers • • Grease Gun Check for malfunction. (Replace if necessary.)4

Supply grease (6000H cycle)5).Replace grease (612000H cycle)5). See section

B,T-axes speed reducersB,T-axes gears

• • Grease Gun Check for malfunction. (Replace if necessary.) 4

Supply grease(6000H cycle)5).Replace grease(12000H cycle)5). See section 9.

Overhaul •spection No. correspond to the numbers in Fig. 9-1 “Inspection Items”.e occurrence of a grease leakage indicates the possibility that grease has seeped into the motor. This can cause a mo

ontact your YASKAWA representative.hen checking for conduction with multimeter, connect the battery to “BAT” and “OBT” of connectors on the motor side fonnectors on detector side for each axis from the motor. Otherwise, the home position may be lost. (Refer to section 9.4e grease might leak out from the air breather or the internal pressure might rise in case the manipulator is used very freq handling.r the grease, refer to Table 9-2 “Inspection Parts and Grease Used”.

9-2: Inspection Parts and Grease Used

Grease Used Inspected Parts

4,15,16 Molywhite RE No.00 Speed reducers for all axesB,T-axes gears

9-1: Inspection Items (Sheet 2 of 2)

s1) Schedule Method Operation

Da

ily

1000

HC

ycle

6000

HC

ycle

1200

0H

Cyc

le

2400

0H

Cyc

le

3600

0H

Cyc

le

9-4

169

85

8-1C

D

HW

1482719

9M

ainten

ance a

nd In

spection

9.1

Inspection

Sch

edu

leM

H50II

The numbers in the above table correspond to the numbers in Table 9-1 “Inspection Items”.

T-axis

54 of 82

Fig. 9-1: Inspection Items

U-axis

L-axis

B-axisR-axis

S-axis

169858-1CD

9 Maintenance and Inspection9.2 Notes on Maintenance Procedures

MH50II

9.2 Notes on Maintenance Procedures

9.2.1 Battery Pack Replacement

The battery packs are installed in the position shown in Fig. 9-2 “Battery Location”.

• Battery Type: HW0470360-A

Fig. 9-2: Battery Location

Fig. 9-3: Battery Connection

AIR

1BC

2BC

Top View

Backside View

Connector base

Battery pack (HW0470360-A)

Cross head APS bolt M6(Length:12)(8 bolts)

Cross head APS bolt M4(Length:10)(4 bolts)

See procedure 5

Connector

Battery pack before replacement

See procedure 4

New battery pack

Board(type: SGDR-EFBA02A)

9-5 HW1482719 55 of 82

9 Maintenance and Inspection9.2 Notes on Maintenance Procedures

169858-1CD

MH50II

1. Turn OFF the DX200 main power supply.

2. Remove the plate fixing screws and the plate on the connector base, then pull the battery pack out to replace it with the new one.

3. Remove the battery pack from the battery holder.

4. Connect the new battery pack to the unoccupied connectors on the board.

5. Remove the old battery pack from the board.

6. Mount the new battery pack on the battery holder.

7. Reinstall the plate.

NOTE Remove the old battery pack after connecting the new one so that the encoder absolute data does not disappear.

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

9-6 HW1482719 56 of 82

169858-1CD

9 Maintenance and Inspection9.3 Grease Replenishment/Exchange

MH50II

9.3 Grease Replenishment/Exchange

9.3.1 Notes on Grease Replenishment/Exchange Procedures

Make sure to follow the instructions listed below at grease replenishment/exchange. Failure to observe the following instructions may result in damage to a motor and a speed reducer.

NOTE

• If grease is injected without removing the plug 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.

• Do not install a joint, a hose, etc. to a 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 a hose on the grease inlet with grease to keep air from entering into the speed reducer.

9-7 HW1482719 57 of 82


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MH50II

9.3.2 Grease Replenishment/Exchange for S-axis Speed Reducer

Fig. 9-4: S-axis Speed Reducer Diagram

9.3.2.1 Grease Replenishment

(Refer to Fig. 9-4 “S-axis Speed Reducer Diagram”.)

Replenish the grease according to the following procedure:

1. Remove the hexagon socket head plug PT1/4 from the grease inlet and the hexagon socket head plug PT3/8 from the grease exhaust port.

2. Install the grease zerk PT1/4 to the grease inlet. (The grease zerk is delivered with the manipulator.)

3. Inject the grease through the inlet using a grease gun.

– Grease type: Molywhite RE No.00

– Amount of grease: 520 cc (1040 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 the excess grease.

5. Remove the grease zerk from the grease inlet and reinstall the hexagon socket head plug PT 1/4.Before installing the plug, apply Three Bond 1206C on the thread part of each plug, then tighten the plug with a tightening torque of 12 N•m (1.2 kgf•m).

6. Wipe the discharged grease with a cloth and reinstall the hexagon socket head plug PT 3/8 to the exhaust port.Before installing the plug, apply Three Bond 1206C on the thread part of each plug, then tighten the plug with a tightening torque of 23 N•m (2.3 kgf•m).

Grease exhaust portHexagon socket head plug PT3/8

S-axis speed reducer

Hexagon socket head plug PT1/4

Grease inlet

NOTE

• If grease is injected with the plugs on, the grease will leak inside the motor and may cause a damage. Make sure to remove the plug before the grease injection.


9-8 HW1482719 58 of 82

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MH50II

9.3.2.2 Grease Exchange

(Refer to Fig. 9-4 “S-axis Speed Reducer Diagram”.)

1. Remove the hexagon socket head plug PT1/4 from the grease inlet and the hexagon socket head plug PT3/8 from the grease exhaust port.


3. Inject the grease through the grease inlet using a grease gun.


– Amount of grease: approx. 2600 cc



4. The grease exchange is complete when new grease appears from the 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 the excess grease.



NOTE

• If grease is injected with the plugs on, the grease will leak inside the motor and may cause a damage. Make sure to remove the plug before the grease injection.


NOTEIf the plug is installed while grease is being exhausted, grease will leak inside the motor and may cause a damage. Ensure that grease has been completely exhausted before installing the plug.

9-9 HW1482719 59 of 82


169858-1CD

MH50II

9.3.3 Grease Replenishment/Exchange for L-axis Speed Reducer

Fig. 9-5: L-axis Speed Reducer Diagram


(Refer to Fig. 9-5 “L-axis Speed Reducer Diagram”.)

1. Make the L-arm vertical to the ground.

2. Remove the hexagon socket head plug PT 3/8 from the grease exhaust port.

3. Remove the hexagon socket head plug PT 3/8 from the grease inlet.


5. Inject grease through the grease inlet using a grease gun.





6. Move the L-axis for a few minutes to discharge the excess grease.




Grease inlet Hexagon socket head plug PT3/8

L-axis speed reducer

NOTE

• If grease is injected with the exhaust plug on, the grease will leak inside the motor and may cause a damage. Make sure to remove the plug before the grease injection.


9-10 HW1482719 60 of 82

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MH50II


(Refer to Fig. 9-5 “L-axis Speed Reducer Diagram”.)

1. Make the L-arm vertical to the ground.






– Amount of grease: approx. 1650 cc



6. The grease discharge is complete when new grease appears from the exhaust port. The new grease can be distinguished from the old grease by color.

7. Move the L-axis for a few minutes to discharge the excess grease.

8. Remove the grease zerk from the grease inlet and reinstall the hexagon socket head plug PT 3/8 to the grease inlet.Before installing the plug, apply Three Bond 1206C on the thread part of each plug, then tighten the plug with a tightening torque of 23 N•m (2.3 kgf•m).

9. Wipe the discharged grease with a cloth and reinstall the hexagon socket head plug PT 3/8 to the exhaust port.Before installing the plugs, apply Three Bond 1206C on the thread part of each plug, then tighten the plug with a tightening torque of 23 N•m (2.3 kgf•m).

NOTE

• If grease is injected with the exhaust plug on, the grease will leak inside the motor and may cause a damage. Make sure to remove the plug before the grease injection.



9-11 HW1482719 61 of 82


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MH50II

9.3.4 Grease Replenishment/Exchange for U-axis Speed Reducer

Fig. 9-6: U-Arm Posture

Fig. 9-7: U-axis Speed Reducer Diagram


(Refer to Fig. 9-7 “U-axis Speed Reducer Diagram”.)

1. Make the U-arm horizontal to the ground.









U-arm

U-axis speed reducer

Grease inletHexagon socket head plug PT1/8


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 bolt before the grease injection.


9-12 HW1482719 62 of 82

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MH50II

6. Move the U-axis for a few minutes to discharge the excess grease.

7. Remove the grease zerk from the grease inlet and reinstall the hexagon socket head plug PT 1/8.Before installing the plug, apply Three Bond 1206C on the thread part of each plug, then tighten the plug with a tightening torque of 4.9 N•m (0.5 kgf•m)

8. Wipe the discharged grease with a cloth and reinstall the hexagon socket head plug PT 3/8 to the exhaust port.Three Bond 1206C on the thread part of each plug, then tighten the plug with a tightening torque of 23 N•m (2.3 kgf•m)


(Refer to Fig. 9-7 “U-axis Speed Reducer Diagram”.)

1. Make the U-arm horizontal to the ground.






– Amount of grease: approx.700 cc




7. Move the U-axes for a few minutes to discharge the excess grease.

8. Remove the grease zerk from the grease inlet and reinstall the hexagon socket head plug PT 1/8.Before installing the plug, apply Three Bond 1206C on the thread part of each plug, then tighten the plug with a tightening torque of 4.9 N•m (0.5 kgf•m).

9. Wipe the discharged grease with a cloth and reinstall the hexagon socket head plug PT 3/8 to the exhaust port. Before installing the plug, apply Three Bond 1206C on the thread part of each plug, then tighten the plug with a tightening torque of 23 N•m (2.3 kgf•m).

NOTE




9-13 HW1482719 63 of 82


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9.3.5 Grease Replenishment for R-axis Speed Reducer

Fig. 9-8: R-axis Speed Reducer Diagram


(Refer to Fig. 9-8 “R-axis Speed Reducer Diagram”.)

1. Remove the hexagon socket head plug PT 3/8 from the exhaust port.

2. Remove the hexagon socket head plug PT 1/8.

3. Install the grease zerk PT1/8 to the grease inlet.



– Amount of grease: approx.700 cc (1400 cc for 1st supply)




6. Move the R-axes for a few minutes to discharge the excess grease.



R-axis speed reducer

U arm

Grease inlet

Exhaust portHexagon socket head plug PT3/8

Hexagon socket head plug PT1/8

NOTE



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(Refer to Fig. 9-8 “R-axis Speed Reducer Diagram”.)










6. Move the R-axes for a few minutes to discharge the excess grease.



NOTE




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9.3.6 Grease Replenishment for B- and T-axes Speed Reducer and Gear Parts

Fig. 9-9: B- and T-axes Speed Reducer and Gear Parts


(Refer to Fig. 9-9 “B- and T-axes Speed Reducer and Gear Parts”.)

1. Remove the hexagon socket head plug PT 1/8 from the exhaust port.

2. Remove the hexagon socket head plug PT 1/8.

3. Install the grease zerk PT1/8 to the grease inlet



– Amount of grease: approx.300 cc (600 cc for 1st supply)




6. Move the B-axes for a few minutes to discharge the excess grease.


8. Wipe the discharged grease with a cloth and reinstall the hexagon socket head plug PT 1/8 to the exhaust port.Before installing the plug, apply Three Bond 1206C on the thread part of each plug, then tighten the plug with a tightening torque of 4.9 N•m (0.5 kgf•m).

Grease inlet Hexagon socket head plug PT1/8

T-axis speed reducer, gear

Exhaust port Hexagon socket head plug PT1/8

B-axis speed reducer, gear

NOTE



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(Refer to Fig. 9-9 “B- and T-axes Speed Reducer and Gear Parts”.)










6. Move the B-axes for a few minutes to discharge the excess grease.


8. Wipe the discharged grease with a cloth and reinstall the hexagon socket head plug PT 1/8 to the exhaust port.Before installing the plug, apply Three Bond 1206C on the thread part of each plug, then tighten the plug with a tightening torque of 4.9 N•m (0.5 kgf•m).

NOTE




9-17 HW1482719 67 of 82

9 Maintenance and Inspection9.4 Notes for Maintenance

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MH50II

9.4 Notes for Maintenance

When performing maintenance such as replacement of a wire harness in the manipulator, the encoder connector may be necessary to be removed. In this case, be sure to connect the battery pack to the battery backup connector before removing the encoder connector.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. 9-10 “Battery Pack Connection”.

9.4.1 Battery Pack Connection

The connectors (crimped contact-pin) for the battery backup are installed at the end point of the motors (BAT and OBT are marked). Connect the battery packs according to the following procedure.

1. Removed the cap attached to the battery backup connector of the motors.

2. Connect the battery packs (HW9470932-A) with the battery backup connectors (BAT and OBT are marked) located at the end point of the cables for the encoder. (Under this condition, remove the encoder connector and carry out the maintenance checks).

3. Confirm all connectors connected after the maintenance check,

and remove the battery packs. Install the caps attached to the

battery backup connectors of the motors.

Fig. 9-10: Battery Pack Connection

NOTE Do not remove the battery pack in the connector base.

b

aab0BT

BAT BAT*0BT*

Motor

a: Crimped contact-pin (socket)b: Crimped contact-pin (pin)

Connector for motor encoder

Power connector

Connector for battery backup

Battery pack: HW9470932-A

9-18 HW1482719 68 of 82

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10 Recommended Spare PartsMH50II

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-MH50 II. 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 YR-MH00050-J00, -J01 (Sheet 1 of 2)

Rank PartsNo.

Name Type Manufacturer Qty QtyperUnit

Remarks

A 1 Grease Molywhite RE No.00

YASKAWA ElectricCorporation

16 kg - For speed reducers in each axis

A 2 Liquid Gasket Three Bond 1206C Three Bond Co., Ltd.

- -

A 3 Battery Pack HW9470932-A YASKAWA ElectricCorporation

1 1 For internal wire harness replacement

A 4 Battery Pack HW0470360-A YASKAWA ElectricCorporation

1 1

B 5 S-axisSpeed Reducers Kit

Y005C-MH00050J00S YASKAWA ElectricCorporation

1 1

B 6 L-axisSpeed Reducers Kit

Y005C-MH00050J00L YASKAWA ElectricCorporation

1 1

B 7 U-axisSpeed Reducers Kit

Y005C-MH00050J00U YASKAWA ElectricCorporation

1 1

B 8 R-axisSpeed Reducers Kit

Y005C-MH00050J00R YASKAWA ElectricCorporation

1 1

B 9 B-axisSpeed Reducers Kit

Y005C-MH00050J00B YASKAWA ElectricCorporation

1 1

B 10 T-axisSpeed Reducers Kit

Y005C-MH00050J00T YASKAWA ElectricCorporation

1 1

C 11 S-axIsAC Servomotor

SGMRV-30ANA-YR1*HW0388669-A


1 1

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C 12 L-axisAC Servomotor



1 1

C 13 U-axisAC Servomotor



1 1

C 14 R-,B-,T-axesAC Servomotor



1 3

C 15 Internal Wire Harness

HW1171766-A YASKAWA ElectricCorporation

1 1

C 16 Connector Base HW0374034-F YASKAWA ElectricCorporation

1 1

C 17 Circuit board SGDR-EFBA02A YASKAWA ElectricCorporation

1 1

Table 10-1: Spare Parts for YR-MH00050-J00, -J01 (Sheet 2 of 2)

Rank PartsNo.

Name Type Manufacturer Qty QtyperUnit

Remarks

10-2 HW1482719 70 of 82

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11 Parts List11.1S-Axis Unit

MH50II

11 Parts List

11.1 S-Axis Unit

1019

1001

1002

1003

1004

1005

1007

1009

1008

10101011

1013

1014

10161018

1020

1017

1021

1022

1025

1026

1028

1023

1024

1012

1030

1033

1029

10321031

1035

11-1 HW1482719 71 of 82

11 Parts List11.1S-Axis Unit

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Table 11-1: S-Axis Unit

No. DWG No. Name Pcs

1001 HW1382898-A Speed reducer 1

1002 SGMRV-30ANA-YR1* Motor 1

1003 HW9404486-1 Shaft 1

1004 HW0400405-1 Stopper 1

1005 6310 Bearing 1

1007 M8X45 Socket screw 1

1008 2H-8 Spring washer 1

1009 HW0102237-4 S-head 1



1012 C-30-SG-22A Grommet 1



1016 STW-50 Retaining Ring-C type

1



1019 PT3/8(STAINLESS)

Plug 1

1020 MSTH10-25 Dowel pin 1



1023 HW9405875-1 Collar 1


1025 HW0102236-1 Base 1

1026 KQ2L10-01S Elbow 1

1028 NB-1075-0.43 Tube 1

1029 HW0314010-1 M-base 1

1030 Y507212.5 Oil seal 1



1033 HW0313741-1 Gear 1


Plug 1

1035 M12X35 GT-SA bolt 2

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11 Parts List11.2L-Axis Unit

MH50II

11.2 L-Axis Unit

2002

2005

2016

200420032026

20092008

20062007

2026

2027

2027

2027

2011

2013

2014

2015

2010

2019

2020

1009

20012021

2022

20242023

2018

2025

2025

11-3 HW1482719 73 of 82

11 Parts List11.2L-Axis Unit

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Table 11-2: L-Axis Unit



2002 HW0102425-1 L-arm 1


2004 SW-2H-12 Spring washer 16

2005 HW9381465-B Speed reducer 1





2010 HW9481343-A Shaft 1

2011 HW9482771-A Gear 1

2012 HW9405902-1 Pipe 1



2015 M8 Washer 1

2016 G270 O-ring 1

2018 HW0314011-1 M-base 1

2019 HW0312815-2 Gear 1

2020 HW9482447-A Oil seal 1





2025 EZ5002A0 Cap 3


Plug 2


Plug 4

1009 HW0102237-4 S-head 1

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11 Parts List11.3U-Axis Unit

MH50II

11.3 U-Axis Unit

2002

30143015

3028

30233024

3007

3027

3017

3022

3001

30163021

30263025

30183008

3009

3011

3010

30053006

30203019

30023004

3003

30123015

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11 Parts List11.3U-Axis Unit

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Table 11-3: U-Axis Unit



3002 HW0413914-1 Stopper 1






3008 HW0313740-1 Gear 1

3009 HW8411125-3 Washer 1







3016 HW9405257-1 Collar 1

3017 HW0102239-2 Casing 1

3018 Y426012.5 Oil seal 1



3021 HW0314012-1 M-base 1

3022 G195 O-ring 1



3025 TSH6-01M Union 2

3026 UB-0640-0.1C Tube 2


Plug 1


Plug 1

2002 HW0102425-1 L-arm 1

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11 Parts List11.4R-,B-,T-Axes Unit

MH50II

11.4 R-,B-,T-Axes Unit

4029

4030

4001

R axis (MH50II only)

B axis

T axis

4003

4004

4005

4006

4007

4008

4009

4010

4011

4012

4013

4014

4015

4016

4017

4018

4019

4021

4022 4023

4024

4025

40264027

4028

4031

4031

4031

4033

40354034

4048

40364037 4037

40394038

40404041

40434042

4044

40464047

40494050

4045

3017

4007

4031

4020

4002

40464047

40464047

4002

4002

40494050

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11 Parts List11.4R-,B-,T-Axes Unit

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Table 11-4: R-,B-,T-Axes Unit




4003 AC1306-G00X6 Oil seal 1

4004 TC20367*FKM* Oil seal 1

4005 ISTW-17 Retaining Ring 1

4006 HR32913J Bearing 1

4007 HR32005XJ Bearing 2

4008 HR32909J Bearing 1

4009 6003 Bearing 1

4010 HW0313628-1 Gear 1

4011 HW0313627-1 Gear 1

4012 HW0313629-1 Gear 1

4013 HW0312826-1 Gear 1

4014 HW0404196-8 Washer 1

4015 HW0313626-1 Gear 1


4017 HW0312834-1 Shaft 1

4018 HW0312832-1 Shaft 1

4019 HW0312831-1 Gear 1

4020 HW0312833-1 Shaft 1

4021 HW0312835-1 Shaft 1

4022 HW0312838-1 Flange 1


4024 HW0200768-1 Shaft 1

4025 HW0312837-1 Housing 1

4026 HW9405662-1 Washer 1

4027 HW0312825-1 Gear 1

4028 HW0412720-1 B nut 1

4029 PT1/8 (STAINLESS) Plug 2



4033 M4X6 H set screw 1


















3017 HW0102239-2 Casing 1

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11 Parts List11.5Wrist Unit

MH50II

11.5 Wrist Unit

5001

5002

5003

5004

5006

50075008

5009

5010

50135014

5047

5048

5053

5054

5055

5056

5057

5058

5060

5075

5082

5089

50935094

5113

5015

5016

5027

50285029

5032

5033

5034

5035

5036

5037

5039

50395040

5041

5044

5046

5022

50955096

51045103

51085107

51125111

3017

50915090

5049

5099

5092

5092

50305038

50975098

5045

5068

5092

5011

5017

5012

5043

51105109

50595092

5031

5042

50935094

51055106

5035

51025100

5039

5005

5115

5005

5039

51145115

5115

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Table 11-5: Wrist Unit


5001 HW0387737-B Speed reducer 1


5003 HW9405880-1 B-cover 1

5004 HW9405445-1 B nut 1

5005 HW9405881-1 B nut 2

5006 HW9405882-1 B nut 1

5007 S34 O ring 1

5008 AE3092E2 Oil seal 1

5009 SC15247F585 Oil seal 1

5010 SC39528F585 Oil seal 1

5011 HW9405883-1 Collar 1

5012 HW9381667-A Gear 1

5013 HW9381668-A Gear 1

5014 HW9381669-A Gear 1

5015 HW9381672-A Gear 1

5016 WR60 Circlip 1

5017 HW9405888-* Shim *

5022 HW9405885-* Shim *

5027 HW9482772-A Gear 1

5028 HW9482765-A Shaft 1

5029 HW9381675-A Shaft 1

5030 RTW42 Retaining Ring 1

5031 STW-25 Retaining Ring-C type 1

5032 ISTW40 Retaining Ring 1

5033 HW9405891-1 Housing 1

5034 PT3/8 Plug 2


5036 HW9405892-1 Flange 1

5037 HW9481234-A Bearing 1

5038 6004LBD2PX24V1 Bearing 1

5039 HW9480086-A Bearing 4

5040 6912DU Bearing 1

5041 6808LLU Bearing 2

5042 6905 Bearing 1

5043 HW9405901-1 Washer 1

5044 BG3000-15X19 Ring 1

5045 HW0312827-1 Gear 1

5046 HW0312828-1 Gear 1

5047 HW0313631-1 Gear 1

5048 HW0313631-1 Gear 1

5049 HW0201297-A Shaft 1

5053 HW1300244-1 Flange 1

5054 HW0314705-1 Flange 1

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5055 HW9302630-3 Housing 1

5056 HW0102233-1 U-arm 1

5057 HW0102491-1 Wrist 1

5058 HW0201226-1 Cover 1

5059 HW0414884-1 Cover 1

5060 HW0412694-* Shim *

5068 HW0412683-* Shim *

5075 HW0412695-* Shim *

5082 HW0412696-* Shim *

5089 HW9404651-1 Washer 1










5099 M4X6 H set screw 1















5115 M5X7 Magic screw 6

3017 HW0102239-2 Casing 1

Table 11-5: Wrist Unit


11-11 HW1482719 81 of 82

MOTOMAN-MH50 IIINSTRUCTIONS

HEAD OFFICE2-1 Kurosakishiroishi, Yahatanishi-ku, Kitakyushu 806-0004, JapanPhone +81-93-645-7703 Fax +81-93-645-7802

100 Automation Way, Miamisburg, OH 45342, U.S.A. Phone +1-937-847-6200 Fax +1-937-847-6277

YASKAWA America Inc. (Motoman Robotics Division)

Yaskawastrasse 1, 85391 Allershausen, GermanyPhone +49-8166-90-100 Fax +49-8166-90-103

YASKAWA Europe GmbH Robotics Divsion )

Phone +82-2-784-7844 Fax +82-2-784-8495

151 Lorong Chuan, #04-02A, New Tech Park, Singapore 556741Phone +65-6282-3003 Fax +65-6289-3003

YASKAWA Electric (Singapore) PTE Ltd.

No7 Yongchang North Road, Beijing E&T Development Area China 100176Phone +86-10-6788-2858 Fax +86-10-6788-2878

YASKAWA SHOUGANG ROBOT Co. Ltd.

#426, Udyog Vihar, Phase- IV, Gurgaon, Haryana, IndiaFax +91-124-475-8542Phone +91-124-475-8500

YASKAWA India Private Ltd. (Robotics Division)

YASKAWA Electric (China) Co., Ltd.22F, One Corporate Avenue, No.222, Hubin Road, Huangpu District, Shanghai 200021, ChinaPhone +86-21-5385-2200 Fax 86-21-5385-3299

YASKAWA Electric (Thailand) Co., Ltd.59,1st-5th Floor, Flourish Building, Soi Ratchadapisek 18,Ratchadapisek Road, Huaykwang, Bangkok 10310, THAILANDPhone +66-2-017-0099 Fax +66-2-017-0199

12F, No.207, Sec. 3, Beishin Rd., Shindian District, New Taipei City 23143, TaiwanFax +886-2-8913-1513Phone +886-2-8913-1333

YASKAWA Electric Taiwan Corporation

Secure Building-Gedung B Lantai Dasar & Lantai 1 JI. Raya Protokol Halim Perdanakusuma, Jakarta 13610, Indonesia

Fax +62-21-2982-6741Phone +62-21-2982-6470

PT. YASKAWA Electric Indonesia

Phone +46-480-417-800 Fax +46-486-414-10

YASKAWA Nordic ABVerkstadsgatan 2, Box 504 ,SE-385 25 Torsas, Sweden

35F, Three IFC, 10 Gukjegeumyung-ro, Yeongdeungpo-gu, Seoul, Korea　07326YASKAWA Electric Korea Corporation

HW1482719

Specifications are subject to change without noticefor ongoing product modifications and improvements.

MANUAL NO.

7 82 of 82

Documents

MOTOMAN-MH50 II INSTRUCTIONS€¦ · or shields removed for clarity. Be sure all covers and shields are replaced before operating this product. • The drawings and photos in this