Motoman

MOTOMAN-MH6/MH6F
INSTRUCTIONS
TYPE:
YR-MH00006-A00 (STANDARD SPECIFICATION FOR DX100)
YR-MH00006-A01 (WITH LIMIT SWITCHES FOR S-, L-, U-AXES FOR DX100)
YR-MH0006F-A00 (STANDARD SPECIFICATION FOR FS100)
YR-MH0006F-A01 (WITH LIMIT SWITCHES FOR S-, L-, U-AXES FOR FS100)
Upon receipt of the product and prior to initial operation, read these instructions thoroughly, and
retain for future reference.
MOTOMAN INSTRUCTIONS
MOTOMAN-MH6/MH6F INSTRUCTIONS
DX100 INSTRUCTIONS
DX100 OPERATOR’S MANUAL
DX100 MAINTENANCE MANUAL
FS100 INSTRUCTIONS
FS100 OPERATOR’S MANUAL
FS100 MAINTENANCE MANUAL
The DX100 operator’s manual above corresponds to specific usage.

Be sure to use the appropriate manual.
The FS100 OPERATOR’S MANUAL above is applicable to both FS100 and FS100L controllers.
Part Number: 156160-1CD

Revision: 5
MANUAL NO.
HW0484977 6
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MH6/MH6F
Copyright © 2017 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, 2017
YASKAWA America, Inc.

Motoman Robotics Division
100 Automation Way
Miamisburg, OH 45342
Phone: 937-847-6200
www.motoman.com
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MH6/MH6F
MANDATORY
• This instruction manual is intended to explain mainly on the
mechanical part of the MOTOMAN-MH6/MH6F 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 DX100/FS100 instructions. To ensure correct and safe
operation, carefully read the DX100/FS100 instructions before
reading this manual.
CAUTION
• Some drawings in this manual are shown with the protective covers
or shields removed for clarity. Be sure all covers and shields are
replaced before operating this product.
• The drawings and photos in this manual are representative
examples and differences may exist between them and the
delivered product.
• YASKAWA may modify this model without notice when necessary
due to product improvements, modifications, or changes in
specifications.
If such modification is made, the manual number will also be
revised.
• If your copy of the manual is damaged or lost, contact a YASKAWA
representative to order a new copy. The representatives are listed
on the back cover. Be sure to tell the representative the manual
number listed on the front cover.
• YASKAWA is not responsible for incidents arising from unauthorized
modification of its products. Unauthorized modification voids your
product’s warranty.
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MH6/MH6F
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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MH6/MH6F Notes for Safe Operation
Notes for Safe Operation

Read this manual carefully before installation, operation, maintenance, or
inspection of the MOTOMAN-MH6/MH6F.
In this manual, the Notes for Safe Operation are classified as “DANGER”,
“WARNING”, “CAUTION”, “MANDATORY”, or “PROHIBITED”.
Indicates an imminent hazardous

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

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

CAUTION 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.
Always be sure to follow explicitly

MANDATORY the items listed under this heading.
PROHIBITED Must never be performed.
Even items described as “CAUTION” may result in a serious accident in

some situations.
At any rate, be sure to follow these important items
To ensure safe and efficient operation at all times, be sure

NOTE to follow all instructions, even if not designated as
“DANGER”, “CAUTION” and “WARNING”.
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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<DX100>
WARNING
• Before operating the manipulator, check that servo power is turned
OFF pressing the emergency stop buttons on the front door of the
DX100 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 DX100.
– 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
DX100 and the programming pendant.
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<FS100>
WARNING
• Before operating the manipulator, check that servo power is turned
OFF when the emergency stop button on the programming pendant
is pressed.
When the servo power is turned OFF, the SERVO ON LED on the
programming pendant is turned OFF.
Injury or damage to machinery may result if the emergency stop circuit
cannot stop the manipulator during an emergency.
Fig. : Emergency Stop Button
• In the case of not using the programming pendant, be sure to

supply the emergency stop button on the equipment. Then before
operating the manipulator, check to be sure that the servo power is
turned OFF by pressing the emergency stop button.
Connect the external emergency stop button to the 5-6 pin and 16-
17 pin of the robot system signal connector (CN2).
• Upon shipment of the FS100, this signal is connected by a jumper
cable in the dummy connector. To use the signal, make sure to
supply a new connector, and then input it.
If the signal is input with the jumper cable connected, it does not
function, which may result in personal injury or equipment damage.
• Once the emergency stop button is released, clear the cell of all
items which could interfere with the operation of the manipulator.
Then turn the servo power ON.
Injury may result from unintentional or unexpected manipulator motion.
Fig. : Release of Emergency Stop
Turn
• Observe the following precautions when performing teaching

operations within the manipulator’s operating range:
– Be sure to use a lockout device to the safeguarding when going
inside. Also, display the sign that the operation is being
performed inside the safeguarding and make sure no one closes
the safeguarding.
– View the manipulator from the front whenever possible.
– Always follow the predetermined operating procedure.
– 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 manipulator’s operating
range and that you are in a safe location before:
– Turning ON the FS100 power.
– Moving the manipulator with the programming pendant.
– Running the system in the check mode.
– Performing automatic operations.
Injury may result if anyone enters the manipulator’s operating range
during operation. Always press the emergency stop button
immediately if there is a problem.
The emergency stop button is located on the right of the programming
pendant.
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MH6/MH6F Definition of Terms Used Often in This Manual (DX100)
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 DX100 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
DX100/FS100 Instructions before operating the manipulator:
Definition of Terms Used Often in This Manual (DX100)

The MOTOMAN is the YASKAWA industrial robot product.
The MOTOMAN usually consists of the manipulator, the controller, the
programming pendant, and supply cables.
In this manual, the equipment is designated as follows:
Equipment Manual Designation
DX100 controller DX100
DX100 programming pendant Programming pendant
Cable between the manipulator and the Manipulator cable
controller
Definition of Terms Used Often in This Manual (FS100)

The MOTOMAN is the YASKAWA industrial robot product.
The MOTOMAN usually consists of the manipulator, the FS100 controller,
manipulator cables, the FS100 programming pendant (optional), and the
FS100 programming pendant dummy connector (optional).
In this manual, the equipment is designated as follows:
Equipment Manual Designation
FS100 controller FS100
FS100 programming pendant Programming pendant
Cable between the manipulator Manipulator Cable
and the controller
FS100 programming pendant Programming pendant
dummy connector dummy connector
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MH6/MH6F Description of the Operation Procedure
Description of the Operation Procedure

In 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 Trademark
In this manual, names of companies, corporations, or products are
trademarks, registered trademarks, or bland names for each company or
corporation. The indications of (R) and TM are omitted.
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MH6/MH6F Explanation of Warning Labels
Explanation of Warning Labels

The following warning labels are attached to the manipulator.
Always follow the warnings on the labels.
Also, an identification label with important information is placed on the
body of the manipulator. Prior to operating the manipulator, confirm the
contents.
Fig. : Warning Label Locations
WARNING label B
WARNING label A
WARNING label A
Nameplate
Nameplate: WARNING Label A:
WARNING
Moving parts
may cause
injury
WARNING Label B:
WARNING
Do not enter
robot
work area.
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MH6/MH6F Safeguarding Tips
Safeguarding Tips
All 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 Devices

The 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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MH6/MH6F Programming, Operation, and Maintenance Safety
Programming, Operation, and Maintenance Safety

All 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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MH6/MH6F Maintenance Safety
Maintenance Safety
Turn 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 Information

This 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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MH6/MH6F Customer Support Information
Customer Support Information

If you need assistance with any aspect of your MH6/MH6F system, please
contact YASKAWA Customer Support at the following 24-hour telephone
number:
(937) 847-3200
For routine technical inquiries, you can also contact YASKAWA Customer
Support at the following e-mail address:
techsupport@motoman.com
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 use e-mail for routine inquiries only. If you have an

NOTE urgent or emergency need for service, replacement parts,
or information, you must contact YASKAWA Customer
Support at the telephone number shown above.
Please have the following information ready before you call Customer
Support:
• System MH6/MH6F
• Primary Application ___________________________
• Controller DX100/FS100
• 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 DX100/FS100

controller data plate
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MH6/MH6F Table of Contents
Table of Contents
1 Product Confirmation ...................................................................................................................... 1-1
1.1 Contents Confirmation ....................................................................................................... 1-1
1.2 Order Number Confirmation .............................................................................................. 1-2
2 Transport......................................................................................................................................... 2-1
2.1 Transport Method .............................................................................................................. 2-1
2.1.1 Using a Crane ...................................................................................................... 2-1
2.1.2 Using a Forklift...................................................................................................... 2-3
2.2 Shipping Bolts and Brackets.............................................................................................. 2-3
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
3.3 Types of Mounting ............................................................................................................. 3-4
3.3.1 S-axis Operating Range ....................................................................................... 3-4
3.3.2 Fixing the Manipulator Base ................................................................................. 3-4
3.3.3 Precautions to Prevent the Manipulator from Falling............................................ 3-4
3.4 Location ............................................................................................................................. 3-5
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 DX100/FS100.......................................................................... 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 Alterable Operating Range ................................................................................................ 5-4
6 Allowable Load for Wrist Axis and Wrist Flange ............................................................................. 6-1
6.1 Allowable Wrist Load ......................................................................................................... 6-1
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6.2 Wrist Flange....................................................................................................................... 6-3
7 System Application.......................................................................................................................... 7-1
7.1 Peripheral Equipment Mounts............................................................................................ 7-1
7.1.1 Allowable Load ..................................................................................................... 7-1
7.1.2 Installation Position............................................................................................... 7-1
7.2 Internal User I/O Wiring Harness and Air Line................................................................... 7-3
8 Electrical Equipment Specification .................................................................................................. 8-1
8.1 Location of Limit Switch ..................................................................................................... 8-1
8.2 Internal Connections .......................................................................................................... 8-2
9 Maintenance and Inspection ........................................................................................................... 9-1
9.1 Inspection Schedule........................................................................................................... 9-1
9.2 Notes on Maintenance Procedures.................................................................................... 9-6
9.2.1 Battery Pack Replacement ................................................................................... 9-6
9.3 Notes on Grease Replenishment/Exchange Procedures .................................................. 9-8
9.3.1 Grease Replenishment/Exchange for S-Axis Speed Reducer ............................. 9-8

9.3.1.1 Grease Replenishment............................................................................ 9-9
9.3.1.2 Grease Exchange.................................................................................... 9-9
9.3.2 Grease Replenishment/Exchange for L-Axis Speed Reducer............................ 9-10

9.3.2.1 Grease Replenishment.......................................................................... 9-10
9.3.2.2 Grease Exchange.................................................................................. 9-11
9.3.3 Grease Replenishment/Exchange for U-Axis Speed Reducer ........................... 9-12

9.3.3.1 Grease Replenishment.......................................................................... 9-12
9.3.3.2 Grease Exchange.................................................................................. 9-13
9.3.4 Grease Replenishment for R-Axis Speed Reducer ............................................ 9-14
9.3.5 Grease Replenishment for B- and T-Axis Speed Reducers ............................... 9-15
9.3.6 Grease Replenishment for T-Axis Gear.............................................................. 9-16
9.3.7 Grease Replenishment for R-Axis Cross Roller Bearing .................................... 9-17
9.3.8 Notes for Maintenance........................................................................................ 9-18

9.3.8.1 Wrist Axis............................................................................................... 9-18
9.3.8.2 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...................................................................................................................... 11-4
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11.3 U-Axis Unit..................................................................................................................... 11-5
11.4 R-Axis Unit..................................................................................................................... 11-7
11.5 Wrist Unit ....................................................................................................................... 11-9
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MH6/MH6F 1 Product Confirmation

1.1 Contents Confirmation
1 Product Confirmation
CAUTION
• Confirm that the manipulator and the DX100/FS100 have the same
order number. Special care must be taken when more than one
manipulator is to be installed.
If the numbers do not match, manipulators may not perform as
expected and cause injury or damage.
1.1 Contents Confirmation

Confirm the contents of the delivery when the product arrives.
Standard delivery includes the following five (six or seven) items
(Information for the content of optional goods is given separately.):
• For DX100:
• Manipulator
• DX100 (including spare parts)
• Programming pendant
• Manipulator cable (between the DX100 and the manipulator, 4 cables)
• Set of instruction manuals
• For FS100:
• Manipulator
• FS100 (including spare parts) 2 units (for R1 and R2)
• Manipulator cable (between the FS100 and the manipulator, 4 cables)
• Set of instruction manuals
• Programming pendant (optional)
• Programming pendant dummy connector (optional)
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MH6/MH6F 1 Product Confirmation
1.2 Order Number Confirmation
1.2 Order Number Confirmation

Check that the order number of the manipulator corresponds to the
DX100/FS100. The order number is located on a label as shown below.
Fig. 1-1: Location of Order Number Labels
Label (Enlarged View)
THE MANIPULATOR AND THE CONTROLLER Check that the manipulator

SHOULD HAVE SAME ORDER NUMBER.
and the DX100/FS100 have
ORDER NO. the same order number.
DX100
TYPE ERDR- ER
GE N
EM
POWER SUPPLY
C
3PHASE AC200V 50/60Hz PEAK kVA

Y
AC220V 60Hz AVERAGE kVA

INTERRUPT CURRENT kA
SERIAL No.
DATE
MADE IN JAPAN NJ2960-1

S
T O P
ON
D
PE
IP
TR
US
F
E
OFF
T
SE
RE
WARNING
CN
Do not open the door
THE MANIPULATOR AND THE CONTROLLER

SHOULD HAVE SAME ORDER NUMBER.
FBB
CN210 CN211
ORDER NO.
NJ1529
(c) FS100 (Front View)
PROGRAMMING PENDANT
X81
(a) DX100 (Front View) (b) Manipulator (Top View)
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MH6/MH6F 2 Transport
2.1 Transport Method
2 Transport
CAUTION
• Sling applications and crane or forklift operations must be
performed by authorized personnel only.
Failure to observe this caution may result in injury or damage.
• Avoid excessive vibration or shock during transport.
The system consists of precision components. Failure to observe this
caution may adversely affect performance.
• The weight of the manipulator is approximately 135 kg

including the shipping bolts and brackets. Use a wire rope
strong enough to withstand the weight.
NOTE • Mount the shipping bolts and brackets for transporting the
manipulator.
• Avoid putting external force on the arm or motor unit when
transporting by a crane, forklift, or other equipment.
Failure to observe this instruction may result in injury.
2.1.1 Using a Crane

As a rule, the manipulator should be lifted by a crane with two wire ropes
when removing it from the package and moving it. Be sure that the
manipulator is fixed with the shipping bolts and brackets before transport,
and lift it in the posture as shown in Fig. 2-1 “Transporting Position”.
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Fig. 2-1: Transporting Position
Shipping bracket
View A
A
Rubber plate
Rubber plate
Hexagon socket
head cap screw M10 (2 screws)
Shipping bracket
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2.2 Shipping Bolts and Brackets
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
Bolt M16 (4 bolts)
Pallet
Forklift claw entry
2.2 Shipping Bolts and Brackets

The manipulator is provided with shipping bolts and a shipping brackets.
(See Fig. 2-3 “Shipping Bolts and Brackets”.)
Fig. 2-3: Shipping Bolts and Brackets
Shipping bracket
Hexagon socket
head cap screw M10
(2 screws)
Front View Side View
• The shipping bolts and bracket are painted yellow.

• The shipping bracket is to be fixed with the hexagon socket head cap
screw M10 (2 screws).
Before turning ON the power, make sure that the shipping

NOTE 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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MH6/MH6F 3 Installation
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.
• When mounting the manipulator on the ceiling or wall, the base
section must have sufficient strength and rigidity to support the
weight of the manipulator. Also, it is necessary to consider
countermeasures to prevent the manipulator from falling.
Failure to observe these warnings may result in injury or damage.
CAUTION
• Do not install or operate 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 explained in Fig. 2-3 “Shipping Bolts and
Brackets” are removed.
Failure to observe this caution may result in damage to the driving
parts.
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3.1 Installation of the Safeguarding
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 repulsion forces
during acceleration and deceleration.
Construct a solid foundation with the appropriate thickness to withstand
maximum repulsion forces of the manipulator referring to Table 3-1
“Maximum Repulsion Forces of the Manipulator at Emergency Stop” and
Table 3-2 “Endurance Torque in Operation”.
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”.
Table 3-1: Maximum Repulsion Forces of the Manipulator at Emergency Stop

Maximum torque in horizontal rotation 3800 N•m
(S-axis moving direction) (390 kgf•m)
Maximum torque in vertical rotation 3500 N•m
(L-, U-axes moving direction) (357 kgf•m)
Table 3-2: Endurance Torque in Operation

Endurance torque in horizontal operation 900 N•m
(S-axis moving direction) (93 kgf•m)
Endurance torque in vertical operation 1500 N•m
(L-, U-axes moving direction) (158 kgf•m)
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3.2 Mounting Procedures for Manipulator Base
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 40 mm or more thick, and anchor bolts of M16 or larger size.
The manipulator base is tapped for four mounting holes; securely fix the
manipulator base to the baseplate with four hexagon head bolts M16
(50 mm long is recommended).
Next, fix the manipulator base to the baseplate. Tighten the hexagon
head bolts and anchor bolts firmly so that they will not work loose during
the operation.
Refer to Fig. 3-1 “Mounting the Manipulator Baseplate”.
Fig. 3-1: Mounting the Manipulator Baseplate
Hexagon socket head cap screw

M16 (4 screws)
Spring washer
Washer
Manipulator base
20
Baseplate
40 mm
or more
Manipulator base
Anchor bolt M16 or more

Baseplate
A
300
260 Baseplate
240 132±0.1
16 dia.+0.0180
Tapped hole 18 dia.
(2 holes)
(4 holes)
153±0.1
102±0.1
60
300
292
260
60
132±0.1
130±0.1
+0.018
12 dia. 0
102±0.1 Units: mm
100±0.1 153±0.1
View A
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3.3 Types of Mounting
3.3 Types of Mounting

The MOTOMAN-MH6/MH6F is available in three types: floor-mounted
type (standard), wall-mounted type and ceiling-mounted type. For wall-
mounted and ceiling-mounted types, the three points listed below are
different from the floor-mounted type.
• S-axis Operating Range
• Fixing the Manipulator Base
• Precautions to Prevent the Manipulator from Falling
3.3.1 S-axis Operating Range

For the wall-mounted type, the S-axis movable range must be ±30°.
(The range is adjusted prior to the shipment.)
3.3.2 Fixing the Manipulator Base

For wall- and ceiling-mounted types, be sure to use four hexagon socket
head cap screws M16 (tensile strength: 1200 N/mm2 or more) when fixing
the manipulator base. Use a torque of 206 N•m when tightening the
screws.
3.3.3 Precautions to Prevent the Manipulator from Falling

For the wall- or ceiling-mounted types, take appropriate measures to avoid
the falling of the manipulator in case of emergency. Refer to Fig. 3-2
“Precaution against Falling” for details.
Fig. 3-2: Precaution against Falling
Support
Manipulator base
Hexagon socket head cap
screw M16 (4 screws)
(Tensile strength: 1200 N/mm2 or above)
In case of using the wall-/ceiling-mounted type, inform

YASKAWA of the matter when placing an order. Be sure to
NOTE contact your YASKAWA representative (listed on the back
cover of this instruction manual) to perform a wall/ceiling
installation on site.
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3.4 Location
3.4 Location
When installing a manipulator, it is necessary to satisfy the following
environmental conditions:
• Ambient Temperature: 0° to +45°C
• Humidity: 20 to 80%RH (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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MH6/MH6F 4 Wiring
4.1 Grounding
4 Wiring
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. (e.g. 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
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.
• Never use this wire sharing with other ground lines or

grounding electrodes for other electric power, motor
power, welding devices, etc.
NOTE
• Where metal ducts, metallic conduits, or distributing racks
are used for cable laying, ground in accordance with
electrical installation standards.
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MH6/MH6F 4 Wiring
4.2 Cable Connection
Fig. 4-1: Grounding Method
A A
Bolt M8 (for grounding) View A

Delivered with the manipulator

Two manipulator cables are delivered with the manipulator; an encoder
cable (1BC) and a power cable (2BC). (Refer to Fig. 4-2(a) “Manipulator
Cables (DX100)” and Fig. 4-2(b) “Manipulator Cables (FS100)”.)
Connect these cables to the manipulator base connectors and to the
DX100/FS100. Refer to Fig. 4-3(a) “Manipulator Cable Connectors
(Manipulator Side)”, Fig. 4-3(b) “Manipulator Cable Connectors (DX100
Side)”, and Fig. 4-3(c) “Manipulator Cable Connectors (FS100 Side)”.
4.2.1 Connection to the Manipulator

Before connecting cables to the manipulator, verify the numbers on both
manipulator cables and the connectors on the connector base of the
manipulator. When connecting, adjust the cable connector positions to
the main key positions of the manipulator, and insert cables in the order of
2BC, then 1BC. After inserting the cables, depress the lever until it clicks.
4.2.2 Connection to the DX100/FS100

Before connecting cables to the DX100/FS100, verify the numbers on
both manipulator cables and the connectors on the DX100/FS100. When
connecting, insert the cables in the order of X21, then X11, and depress
each lever low until it clicks.
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MH6/MH6F 4 Wiring
Fig. 4-2(a): Manipulator Cables (DX100)
DX100 side Manipulator side
1BC
X11
X11 1BC
1BC
Encoder cable
DX100 side Manipulator side
2BC
X21
X21 2BC
2BC
Power cable
Fig. 4-2(b): Manipulator Cables (FS100)
FS100 side Manipulator side

1BC
X11
X11 1BC
1BC
molex
Encoder cable
FS100 side Manipulator side

2BC
X21
X21 2BC
2BC
Power cable
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MH6/MH6F 4 Wiring
Fig. 4-3(a): Manipulator Cable Connectors (Manipulator Side)
2BC
1BC
3BC
YB-100
38-100mm2 10.0Nžm
250V 240A
Connector details
(Manipulator side)
Fig. 4-3(b): Manipulator Cable Connectors (DX100 Side)
X11
X21
Fig. 4-3(c): Manipulator Cable Connectors (FS100 Side)
X21 X11
Back View
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MH6/MH6F 5 Basic Specifications

5.1 Basic Specifications
5 Basic Specifications
5.1 Basic Specifications

Table 5-1: Basic Specifications1)
Item Model MOTOMAN-MH6/MH6F
Structure Vertically Articulated
Degree of Freedom 6
Payload 6 kg
Repeatability*2) ±0.08 mm
Range of Motion S-Axis (turning) -170° - +170°
L-Axis (lower arm) -90° - +155°
U-Axis (upper arm) -175° - +250°
R-Axis (wrist roll) -180° - +180°
B-Axis (wrist pitch/yaw) -45° - +225°
T-Axis (wrist twist) -360° - +360°
Maximum Speed S-Axis 3.84 rad/s, 220°/s
L-Axis 3.49 rad/s, 200°/s
U-Axis 3.84 rad/s, 220°/s
R-Axis 7.16 rad/s, 410°/s
B-Axis 7.16 rad/s, 410°/s
T-Axis 10.65 rad/s, 610°/s
Allowable Moment3) R-Axis 11.8 N•m (1.2 kgf•m)
B-Axis 9.8 N•m (1.0 kgf•m)
T-Axis 5.9 N•m (0.6 kgf•m)
Allowable Inertia R-Axis 0.27 kg•m2

(GD2/4)
B-Axis 0.27 kg•m2
T-Axis 0.06 kg•m2
Approx. Mass 130 kg
Ambient Conditions Temperature 0° to 45°C
Humidity 20 to 80% RH at constant temperature
Vibration Acceleration Less than 4.9 m/s2 (0.5G)
Others Free from corrosive gas or liquid, or explosive gas.

Free from water, oil, or dust.
Free from excessive electrical noise (plasma).
Power Capacity 1.5 kVA
1 SI units are used in this table. However, gravitational unit is used in ( ).

2 Conformed to ISO9283
3 Refer to section 6.1 “Allowable Wrist Load” for details on the permissible moment of inertia.
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5.2 Part Names and Working Axes
5.2 Part Names and Working Axes

Fig. 5-1: Part Names and Working Axes
U+
U-arm R+ B+
T+
T-
R- B-
U-
Wrist flange
L- L+
L-arm
Rotary head
S+
S-
Manipulator base
5.3 Baseplate Dimensions

Fig. 5-2: Baseplate Dimensions
+0.018
300 16 dia. 0
(2 holes)
260
240 132 ±0.1
18 dia. (4 holes)
153 ± 0.1
102 ±0.1
60
300
292
260
60
20
132 ±0.1
130 ±0.1
+0.018
12 dia. 0
102±0.1
A 100±0.1 153±0.1
View A
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5.4 Dimensions and P-Point Maximum Envelope
5.4 Dimensions and P-Point Maximum Envelope

Fig. 5-3: Dimensions and P-Point Maximum Envelope
(YR-MH00006-A00, -A01, YR-MH0006F-A00, -A01)
170° 422
81
R1
R3
R2
170° 70
1422
1122
381
349
152
637
309
1722
150 640 95 141

155
°
83
P-point
P-point maximum
188 199
envelope
614
°
90
250°
681
155°
352
450
0
5
204
316
175°
764
538
501
Note:
This figure shows the standard specification manipulator in the home position.
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5.5 Alterable Operating Range
5.5 Alterable Operating Range

The operating range of the S-axis can be altered in accordance with the
operating conditions as shown in Table 5-2 “S-Axis Operating Range”.
If alteration is necessary, contact your YASKAWA representative in
advance.
Table 5-2: S-Axis Operating Range

Item Specifications
S-Axis Operating Range -170° - +170° (standard)
-150° - +150°
-135° - +135°
-120° - +120°
-105° - +105°
-90° - +90°
-75° - +75°
-60° - +60°
-45° - +45°
-30° - +30°
-15° - +15°
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MH6/MH6F 6 Allowable Load for Wrist Axis and Wrist Flange

6.1 Allowable Wrist Load
6 Allowable Load for Wrist Axis and Wrist Flange

The allowable wrist load is 6 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.
Table 6-1: Allowable Wrist Load

Axis Moment N•m (kgf•m)1) GD2/4 Total Moment of Inertia
kg•m2
R-Axis 11.8 (1.2) 0.27
B-Axis 8.8 (1.0) 0.27
T-Axis 5.9 (0.6) 0.06
1 ( ): Gravitational unit
When the volume load is small, refer to the moment arm rating shown in
Fig. 6-1 “Moment Arm Rating”.
The allowable total moment of inertia is calculated when the moment is at
the maximum. Contact your YASKAWA representative beforehand when
only the moment of inertia is created, or when the load moment is small
while the moment of inertia is large. Also, when the load mass is
combined with an outside force, contact your YASKAWA representative
beforehand.
Fig. 6-1: Moment Arm Rating

LB
Load gravity
95
position
200
LT
141
LT (mm)
W = 3 kg
R-, T-axes rotation 100
center line
W = 6 kg
B-axis rotation center line
0 100 167 200 238 300

LB (mm)
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Fig. 6-2: The Diagram Moment/Inertia for R-Axis
15
Moment (N m)
11.8
10
0
0.27 0.483
0 0.2 0.4 0.6
GD2/4 (kg m2)
Fig. 6-3: The Diagram Moment/Inertia for B-Axis
10
9.8
7.5
Moment (N m)
2.5
0
0.27 0.37
0 0.1 0.2 0.3 0.4
GD /4 (kg m )
2 2
Fig. 6-4: The Diagram Moment/Inertia for T-Axis
6
5.9
Moment (N m)
0
0.06 0.14
0 0.05 0.1 0.15
GD2/4 (kg m2)
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6.2 Wrist Flange
6.2 Wrist Flange

The wrist flange dimensions are shown in Fig. 6-5 “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. 6-5: Wrist Flange
6
700 +0.021
25 dia. 0
45°
0
50 dia. -0.016
+0.012
6 dia. 0 P.C
.D.
40 Units: mm
(depth: 6)
Tapped holes M6
(depth:9) (pitch:1.0) (4 holes)
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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MH6/MH6F 7 System Application
7.1 Peripheral Equipment Mounts
7 System Application

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.
7.1.1 Allowable Load

• The allowable load on the U-axis is a maximum of 15 kg, including
the wrist load.
For instance, when the mass installed in the wrist point is 6 kg, the
mass which can be installed on the upper arm becomes 9 kg.
• The allowable load on the S-axis is a maximum of 20 kg. Install the
peripheral equipment on the S-axis so that the moment of inertia
(GD2/4) from the S-axis rotation center becomes 1.25 kg•m2 or less.
7.1.2 Installation Position

There is a limitation also on the installation position. Fig. 7-2 “Allowable
Load on U-axis” shows the distance between the U-axis rotation center
and the load gravity.
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Fig. 7-1: Installing Peripheral Equipment
A 70
View A
Upper arm
Z-direction restriction
Z-direction
230
350 or less
W1
230
70
X-direction
Tapped hole M6
(length: 12) (4 holes)
U-axis
rotation center
90 105
199
Rotary head
152.5
50
Tapped hole M10 (4 holes)

(pitch: 1.5) (depth: 20)
Fig. 7-2: Allowable Load on U-axis

X Direction Restriction
20
W1 = 0 kg
15
Weight W2 (kg)
10
W1 = 3 kg
W1 = 6 kg
5
0
-200 -100 0 100 200 300 400
Distance between U-Axis Rotation Center and Load Gravity (mm)
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7.2 Internal User I/O Wiring Harness and Air Line

Internal user I/O wiring harness (0.2 mm2 x 8, 0.75 mm2 x 2 and 1.25 mm2
x 4) and two air lines are incorporated in the manipulator for the drive of
peripheral device mounted on the upper arm as shown in Fig. 7-3
“Connectors for Internal User I/O Wiring Harness and Air Line”.
The connector pins 1 to 16 are assigned as shown in Fig. 7-4 “Details of
Connector Pin Numbers”. Wiring must be performed by users.
The allowable current for internal user 3 A or less for each wire
I/O wiring harness (The total current value for pins 1 to 16 must be 40 A or less.)
The maximum pressure for the air line 490 kPa (5 kgf/cm2) or less
(The air line inside diameter: 8.0mm and 6.5 mm.)
The allowable current for arc welding Rated current of 350A or less and the rated operational ratio should be
power cable 60% or lower.
The allowable operational ratio when it is operated with less current
than the allowable current is calculated by the following formula.
Allowable operational ratio = 60% x (350A/operating current )2
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Fig. 7-3: Connectors for Internal User I/O Wiring Harness and Air Line
Connector for internal user I/O wiring

harness on U-axis: JL05-2A20-29SC
(socket connector with a cap).
Prepare pin connector JL05-6A20-29P.
Power cable terminal for arc welding

TS200CHM
Exhaust port A
Tapped holes PT3/8
with pipe plug
Exhaust port B
Tapped holes PT3/8
with pipe plug
A
Air inlet A
Tapped hole PT3/8
with pipe plug
2BC Air inlet B

1BC Tapped hole PT3/8
with pipe plug
3BC
Power cable terminal for arc welding

YB-100
38-100mm2 10.0Nm
250V 240A
Recommended crimped terminal: R100-10

Cover (TCV-2001-04) is supplied.
View A
Connector for internal user I/O wiring
harness on S-axis: JL05-2A20-29PC
(pin connector with a cap).
Prepare socket connector JL05-6A20-29S.
Fig. 7-4: Details of Connector Pin Numbers
Connector for Internal User I/O Wiring Harness Connector for Internal User I/O Wiring Harness
on the Connector Base on the U-arm
1 1
2 2
3 3
4 4
5 5
6 6
7 (Open) 1 7 (+24V (1A): for shock sensor) 1
Pins used 8 (Open) 2 3 Pins used 8 (Shock sensor signal input) 2 3
9 5 9 (For DX100 only) 4 5
4 6 6
10 7 8 10 7 8
11 (0.75mm22) 9 10 11 (0.75mm2) 9 10
12 (0.75mm ) 11 12 12 (0.75mm2) 11 12
13 (1.25mm2) 13 14 13 (1.25mm2) 13 14
14 (1.25mm2) 14 (1.25mm2)
15 (1.25mm2) 15 16 15 (1.25mm ) 2 15 16
16 (1.25mm2) 16 (1.25mm2)
Internal user I/O wiring harness : 0.2 mm2, 8 lead wires Internal user I/O wiring harness : 0.2 mm2, 8 lead wires
: 0.75 mm2, 2 lead wires : 0.75 mm2, 2 lead wires
: 1.25 mm2, 4 lead wires : 1.25 mm2, 4 lead wires
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• For the standard specification, the pins No.7 and No.8 of

3BC connector on the U-Arm are respectively
connected with the shock sensor power supply and
shock sensor signal input port of the DX100/FS100.
NOTE • The pins No.7 and No.8 of respective 3BC connectors

on the connector base side and the U-Arm side are not
connected with each other.
• For the wiring, refer to Fig. 8-3(a) “Internal Connection
Diagram (DX100)” and Fig. 8-3(c) “Internal Connection
Diagram (FS100)”.
The same numbered pins (1 to 16) of the two connectors are connected
with a single lead wire of 0.2 mm2, 0.75 mm2, or 1.25 mm2.
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MH6/MH6F 8 Electrical Equipment Specification

8.1 Location of Limit Switch
8 Electrical Equipment Specification
8.1 Location of Limit Switch

The limit switches are optional. See Fig. 8-1 “Location of Limit Switches”.
The overrun limit switches (the S- and L-axis overrun limit switches and
the L- and U-axis interference limit switch) can be mounted only if the
manipulator type is: YR-MH00006-A01 or YR-MH0006F-A01.
Fig. 8-1: Location of Limit Switches
L-and U-axes interference L.S.

(optional)
L-axis overrun L.S.

(optional)
S-axis overrun L.S.

(optional)
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MH6/MH6F 8 Electrical Equipment Specification
8.2 Internal Connections
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. 8-2
“Location and Numbers of Connectors” and Table 8-1 “List of Connector
Types”.
Diagrams for internal connections of the manipulator are shown in Fig.
8-3(a) “Internal Connection Diagram (DX100)”, Fig. 8-3(b) “Internal
Connection Diagram (DX100)”, Fig. 8-3(c) “Internal Connection Diagram
(FS100)”, and Fig. 8-3(d) “Internal Connection Diagram (FS100)”.
Fig. 8-2: Location and Numbers of Connectors
3BC (for internal user
I/O wiring harness)
2BC
1BC
3BC
3BC (for internal user I/O

wiring harness)
Table 8-1: List of Connector Types

Name Type of Connector
Connector for the internal user I/O JL05-2A20-29PC
wiring harness on the connector base (JL05-6A20-29S: Optional)
Connector for the internal user I/O JL05-2A20-29SC
wiring harness on the U-arm (JL05-6A20-29P: Optional)
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MH6/MH6F 8.2 Internal Connections
Fig. 8-3(a): Internal Connection Diagram (DX100)
<Notes>
1.For the limit switch specification, the connection of the section A B are changed as follows:
LC1 LC1
LD1 LD1 S-AXIS OVERRUN L.S. Connected to B1
LD1 LC2
L-AXIS OVERRUN L.S. Connected to B2
LD2 LD2
LD2 LC3
POWER CABLE INTERNAL CABLE IN S-AXIS INTERNAL CABLE INTERNAL CABLE LD1 LD3 L AND U-AXES INTERFERENCE L.S.
Connected to B3
IN L-AXIS IN BT-AXIS
LA1 LA1
LB1 LB1 L AND U-AXES INTERFERENCE L.S. Connected to B3
LB1 LA2 A2
LB2 LB2 L-AXIS OVERRUN L.S. Connected to
0BT 1 0BAT11 17 0BAT1
P BAT 2 BAT11 18 BAT1 LB2 LA3
L AND U-AXIS INTERFERENCE L.S.
0BT 3 0BAT12 19 0BAT2 LB1 LB3
Connected to A3
P BAT 4 BAT12 20 BAT2
21 0BAT3 SLU-axes with Limit Switch Specification
22 BAT3
23
24 LC1 LC1
0BT 5 0BAT21 25 0BAT4 B1
P BAT 6 BAT21 26 BAT4 LD1 LD1 S-AXIS OVERRUN L.S. Connected to
0BT 7 0BAT22 27
P BAT 8 BAT22 28 LA1 LA1
29 LB1 LB1 S-AXIS OVERRUN L.S. Connected to A1
30
1 31 S-axis with Limit Switch Specification
2 32
3 1 PG0V1 2.For standard specification, the pins No.7 and No.8 of 3BC connector
4 2 PG5V1
5 3 PG0V2 on the U-arm are respectively connected with the shock sensor power supply
6 4 PG5V2
7 5 PG0V3
LB1 LA2 and shock sensor signal input port of the DX100 controller.
8 6 PG5V3 P LB2 LB2 A2
7
8
PG0V4
PG5V4
Pin No. Connected Port in DX100
LD1 LC2
DX100 1BC(10X4) 9
10
PG0V5
PG5V5 P LD2 LD2 B2 7 Shock sensor power supply; +24V (1A)
CN1-5
CN1-4 P
CN1-5
CN1-4
+24V
0V
1
3
11
12
PG0V6
PG5V6 8 Shock sensor signal input port
13
CN1-10 CN1-10 +24V 2 14
CN1-9 P CN1-9 0V 4 15
16 No.22CN No.18CN 3. When connecting the pins No.7 and No.8 of 3BC connector base and
CN1-1 CN1-1 SPG+1 22CN-1 DATA+1 18CN-1 DATA+1
CN1-2 P CN1-2 SPG-1 P -2 DATA-1 P -2 DATA-1 the pins No.7 and No.8 of 3BC U-arm, the crimped contact-pins (SS1and SS2)
-6 BAT -6 BAT
-5 OBT P -5 OBT PG S-AXIS need to be replaced as shown in C .
-4 +5V -4 +5V
CN1-3 CN1-3
P -9
-7
0V
FG1
P -9
-10
0V
FG1
(Contact your Yaskawa representative in case of modifying the wiring before use.)
FG1
P
No.23CN No.19CN
Power Cable Internal Cable
CN1-6 CN1-6 SPG+2 23CN-1 DATA+2 19CN-1 DATA+2
CN1-7 P CN1-7 SPG-2 P -2 DATA-2 P -2 DATA-2 Connector Base U-arm
-6 BAT -6 BAT
-5 OBT P -5 OBT PG L-AXIS
-4 +5V -4 +5V
P -9 0V P -9 0V DX100 1BC(10X4)
CN1-8 CN1-8 FG2 -7 FG2 -10 FG2
CN4-1 CN4-1 +24V

Casing
P LB1 CN4-1 CN4-1 24V(1A) SS1
CN4-6 CN4-6
CN4-2 CN4-2 SS2 SS2
Crimped E C
CN4-2 CN4-2 SS2
CN4-7 CN4-7 E E E
P AL1 Contact-Pin
CN2-1 CN2-1
No.16CN
3BC(20-29)
Base 3BC(20-29)
SPG+3 16CN-1 DATA+3
CN2-2 P CN2-2 SPG-3 P -2 DATA-3 E E
-6 BAT Unused E E
P -5 OBT PG U-AXIS 3BC-1 1 1 1 1 1 1 3BC-1

CN2-3 CN2-3 FG3 -4 +5V -2 2 2 2 P 2 2 P 2 -2
P -9 0V -3 3 3 3 3 3 3 -3
-10 FG3 -4 4 4 4 P 4 4 P 4 -4
-5 5 5 5 5 -5
-6 6 6 6 P 6 -6
No.9CN
-7 7 7 SS1 SS1 SS1 7 -7
CN2-6 CN2-6 SPG+4 9CN-1 DATA+4
-8 8 8 SS2 P SS2 SS2 P 8 -8
CN2-7 P CN2-7 SPG-4 P -2 DATA-4 -9 9 9 -9
1BC(10X4) -3 BAT -10 10 P 10 -10
P -4 OBT PG R-AXIS -11 11 11 -11
CN2-8 CN2-8
FG4
10CN-1 +5V -12 12 12 -12
P -2 0V -13 13 13 -13
CN2-10 CN2-10 +24V
-3 FG4 -14 14 14 -14
OBT -15 15 15 -15
P BAT -16 16 16 -16
No.13CN No.1CN
CN3-1 CN3-1 SPG+5 -1 DATA+5 1CN-1 DATA+5
CN3-2 P CN3-2 SPG-5 P -7 DATA-5 P -2 DATA-5
-2 BAT -3 BAT
CN3-3 CN3-3
FG5
-8 OBT P -4 OBT PG B-AXIS
-3 +5V 2CN-1 +5V
CN2-4 CN2-4 P -9 0V P -2 0V
SPG+7 -3 FG5
CN2-5 P CN2-5 SPG-7
OBT
CN2-9 CN2-9 BAT
FG7
No.3CN
CN3-6 CN3-6 SPG+6 -4 DATA+6 3CN-1 DATA+6
CN3-7 P CN3-7 SPG-6 P -10 DATA-6 P -2 DATA-6
-3 BAT
-4 OBT PG T-AXIS
CN3-8 CN3-8 -5 +5V 4CN-1 +5V
FG6
P -11 0V P -2 0V
-6 FG6 -3 FG6
CN4-3 CN4-3 BC2 OBT

CN4-8 P CN4-8 BAT
AL2
CN4-10 CN4-10 0V U FOR LAMP

P V
(OPTION)
CN3-4 CN3-4 0V
CN3-5 P CN3-5 +5V
LA1 LB1 LB2 LA3

CN3-9 CN3-9
CN3-10 P CN3-10
0V
+5V
A1 LB1 P LB3
A3
CN4-4 CN4-4 +24V LC1 LD1 LD2 LC3
CN4-5 P CN4-5 LD1
CN4-9 CN4-9 FG8
LD1 P LD3
B3
B1
E
E
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Fig. 8-3(b): Internal Connection Diagram (DX100)
E E E
Base Casing
E E E
3BC(20-29) 3BC(20-29)
E E
3BC-1 1 1 1 1 1 1 3BC-1
-2 2 2 2 P 2 2 P 2 -2
-3 3 3 3 3 3 3 -3
-4 4 4 4 P 4 4 P 4 -4 For Spare Cable
-5 5 5 5 5 -5
-6 6 6 6 P 6 -6
-7 7 7 SS1 SS1 SS1 SS1 7 -7 C
-8 8 8 SS2 SS2 P SS2 SS2 P 8 -8
-9 9 9 -9
-10 10 P 10 -10 Shock Sensor
-11 11 11 -11 (Optional)
-12 12 12 -12
-13 13 13 -13
-14 14 14 -14
-15 15 15 -15
-16 16 16 -16
2BC(6X6)
E
E
No.20CN
CN1-1 CN1-1 ME1 20CN-3 MU1
CN1-2 CN1-2 ME2 -2 MV1
SM S-AXIS
CN1-3 CN1-3 ME2 -1 MW1
CN1-4 CN1-4 MU1 -PE ME1
CN1-5 CN1-5 MV1 -4 BA1
CN1-6 CN1-6 MW1 -5 BB1 YB
No.21CN
CN2-1 CN2-1 MU2 21CN-3 MU2
CN2-2 CN2-2 MV2 -2 MV2
SM
CN2-3 CN2-3 MW2 -1 MW2 L-AXIS
CN2-5 CN2-5 MV2 -4 BA2
No.17CN
CN3-1 CN3-1 MU3 17CN-3 MU3
CN3-2 CN3-2 MV3 -2 MV3
SM
CN3-3 CN3-3 MW3 -1 MW3 U-AXIS
CN3-5 CN3-5 MV4 -4 BA3
No.11CN
CN4-1 CN4-1 MU5 11CN-1 MU4
2BC(6X6) CN4-2 CN4-2 MV5 -2 MV4
SM R-AXIS
CN4-3 CN4-3 MW5 -3 MW4
CN4-4 CN4-4 MU6 -4 ME4
CN4-5 CN4-5 MV6 -1 BA4
No.14CN No.12CN No.5CN
CN5-1 CN5-1 ME3 14CN-1 MU5 5CN-1 MU5
CN5-2 CN5-2 ME4 -2 MV5 -2 MV5
SM B-AXIS
CN5-3 CN5-3 ME5 -3 MW5 -3 MW5
CN5-4 CN5-4 ME6 -4 ME5 -4 ME5
CN5-5 CN5-5 BA1 -1 BA5
CN5-6 CN5-6 BB1 -2 BB5 YB
No.6CN
No.7CN
CN6-1 CN6-1 BA2 -5 MU6 7CN-1 MU6
CN6-2 CN6-2 BA3 -6 MV6 -2 MV6
SM T-AXIS
CN6-3 CN6-3 BA4 -7 MW6 -3 MW6
CN6-4 CN6-4 BB4 -8 ME6 -4 ME6
CN6-5 CN6-5 BA5 -1 BA6
CN6-6 CN6-6 BA6 15CN-1 BA5 -2 BB6 YB
-2 BB5 No.8CN
-3 BA6
-4 BB6
No.15CN
PE
(10)/1C
(10)/1C
(10)/1C
E-WRCT(60sq)
(10)/1C
(10)/1C
(10)/1C
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Fig. 8-3(c): Internal Connection Diagram (FS100)

<Notes>
1.For the limit switch specification, the connection of the section A B are changed as follows:
LC1 LC1
LD1 LD1 LD1 S-AXIS OVERRUN L.S. Connected to B1
LD1 LC2
LD2 L-AXIS OVERRUN L.S. Connected to B2
LC3
LD3 L AND U-AXIS INTERFERENCE L.S. Connected to B3
LA1 LA1
0BT 1 0BAT11 17 0BAT1 LB1 LB1 LB1
K R P BAT 2 BAT11 18 BAT1 S-AXIS OVERRUN L.S. Connected to A1
0BT 3 0BAT12 19 0BAT2 LB1 LA2
K R P BAT 4 BAT12 20 BAT2 LB2 A2
21 0BAT3
L-AXIS OVERRUN L.S. Connected to
22 BAT3 LA3
23 LB3 Connected to A3
24
L AND U-AXIS INTERFERENCE L.S.
0BT 5 0BAT21 25 0BAT4 SLU-axes with Limit Switch Specification
K R P BAT 6 BAT21 26 BAT4
0BT 7 0BAT22 27 LC1 LC1
K R P BAT 8 BAT22 28 LD1 LD1 S-AXIS OVERRUN L.S. Connected to B1
29 LD1 LC2
30
1 31 LD2 LD2
2 32 LD2 LC3
3 1 PG0V1 LD1 LD3
4 2 PG5V1
5 3 PG0V2 LA1 LA1
6 4 PG5V2
7 5 PG0V3
LB1 LA2 LB1 LB1 S-AXIS OVERRUN L.S. Connected to A1
8 6 PG5V3 P LB2 A2 LB1 LA2
7 PG0V4 LB2 LB2
8 PG5V4 LB2 LA3
1BC(10X4) 9 PG0V5 LD1 LC2
FS100 10 PG5V5 P LD2 B2 LB1 LB3
B2 CN1-5 +24V 1 11 PG0V6
B1 P CN1-4 0V 3 12 PG5V6 S-axis with Limit Switch Specification
13
B4 CN1-10 +24V 2 14
B3 P CN1-9 0V 4 15
16 No.22CN No.18CN
A1 CN1-1 SPG+1 22CN-1 DATA+1 18CN-1 DATA+1
A2 P CN1-2 SPG-1 P -2 DATA-1 P -2 DATA-1
-6 BAT -6 BAT
P -5
-4
OBT
+5V
P -5
-4
OBT
+5V
PG S-AXIS
P -9 0V P -9 0V
A3 CN1-3 -7 FG1 -10 FG1
FG1
No.23CN No.19CN
A4 CN1-6 SPG+2 23CN-1 DATA+2 19CN-1 DATA+2
A5 P CN1-7 SPG-2 P -2 DATA-2 P -2 DATA-2
-6 BAT -6 BAT
P -5
-4
OBT
+5V
P -5
-4
OBT
+5V
PG L-AXIS
P -9 0V P -9 0V
A6 CN1-8 FG2 -7 FG2 -10 FG2
D3 CN4-1 +24V
D4 P CN4-6 OT_1+
B5 CN4-2 NC
D1 P CN4-7 NC
No.16CN
C1 CN2-1 SPG+3 16CN-1 DATA+3
C2 P CN2-2 SPG-3 P -2 DATA-3
-6 BAT
P -5 OBT PG U-AXIS
C3 CN2-3 FG3 -4 +5V
P -9 0V
-10 FG3
No.9CN
C4 CN2-6 SPG+4 9CN-1 DATA+4
C5 P CN2-7 SPG-4 P -2 DATA-4
1BC -3 BAT
P -4 OBT PG R-AXIS
C6 CN2-8 FG4 10CN-1 +5V
P -2 0V
-3 FG4
F1 CN2-10 OT_1-
OBT
P BAT
No.13CN No.1CN
E1 CN3-1 SPG+5 -1 DATA+5 1CN-1 DATA+5
E2 P CN3-2 SPG-5 P -7 DATA-5 P -2 DATA-5
-2 BAT -3 BAT
E3 CN3-3
FG5
-8 OBT P -4 OBT PG B-AXIS
-3 +5V 2CN-1 +5V
D5 CN2-4 P -9 0V P -2 0V
D6 P CN2-5 NC -3 FG5
NC
OBT
B6 CN2-9 BAT
NC
No.3CN
E4 CN3-6 SPG+6 -4 DATA+6 3CN-1 DATA+6
E5 P CN3-7 SPG-6 P -10 DATA-6 P -2 DATA-6
-3 BAT
-4 OBT PG T-AXIS
E6 CN3-8 FG6 -5 +5V 4CN-1 +5V
P -11 0V P -2 0V
-6 FG6 -3 FG6
F6 CN4-3 LAMP- OBT
D2 P CN4-8 BAT
NC
F2 CN4-10 0V U
P V FOR LAMP(OPTION)
G1 CN3-4 NC
G2 P CN3-5 NC
G3 CN3-9 LA1 LB1 LB2 LB2 LA3

CN3-10 NC
A1 LB1 P LB3
F3 P
NC A3
G4 CN4-4 OT_2+ LC1 LD1 LD2 LD2 LC3
G5 P CN4-5 OT_2- LD1 P LD3
G6 CN4-9 B3
NC
B1
E E
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Fig. 8-3(d): Internal Connection Diagram (FS100)
E E E
Base Casing
3BC(20-29) 3BC(20-29)
E E E E E
3BC-1 1 1 1 1 1 1 3BC-1
-2 2 2 2 P 2 2 P 2 -2
-3 3 3 3 3 3 3 -3
-4 4 4 4 P 4 4 P 4 -4
-5 5 5 5 5 -5
-6 6 6 6 P 6 -6
-7 7 7 SS1 SS1 SS1 SS1 7 -7
-8 8 8 SS2 SS2 P SS2 SS2 P 8 -8 For Spare Cable
-9 9 9 -9
-10 10 P 10 -10
-11 11 11 -11
-12 12 12 -12
-13 13 13 -13
-14 14 14 -14
-15 15 15 -15
-16 16 16 -16
2BC(6X6)
E
E
No.20CN
A5 CN1-1 ME1 20CN-3 MU1
H6 CN1-2 ME2 -2 MV1
SM S-AXIS
G6 CN1-3 ME2 -1 MW1
A2 CN1-4 MU1 -PE ME1
A3 CN1-5 MV1 -4 BA1
A4 CN1-6 MW1 -5 BB1 YB
No.21CN
B6 CN2-1 MU2 21CN-3 MU2
D6 CN2-2 MV2 -2 MV2
SM L-AXIS
F6 CN2-3 MW2 -1 MW2
A6 CN2-4 MU2 -PE ME2
C6 CN2-5 MV2 -4 BA2
E6 CN2-6 MW2 -5 BB2 YB
No.17CN
H5 CN3-1 MU3 17CN-3 MU3
H4 CN3-2 MV3 -2 MV3
SM U-AXIS
H3 CN3-3 MW3 -1 MW3
H1 CN3-4 MU4 -PE ME3
G1 CN3-5 MV4 -4 BA3
F1 CN3-6 MW4 -5 BB3 YB
No.11CN
D1 CN4-1 MU5 11CN-1 MU4
2BC C1 CN4-2 MV5 -2 MV4
SM R-AXIS
B1 CN4-3 MW5 -3 MW4
C2 CN4-4 MU6 -4 ME4
C3 CN4-5 MV6 -1 BA4
C4 CN4-6 MW6 -2 BB4 YB
No.14CN No.12CN No.5CN
H2 CN5-1 ME3 14CN-1 MU5 5CN-1 MU5
E1 CN5-2 ME4 -2 MV5 -2 MV5
A1 CN5-3 ME5 -3 MW5 -3 MW5 SM B-AXIS
C5 CN5-4 ME6 -4 ME5 -4 ME5
D5 CN5-5 BA1 -1 BA5
D4 CN5-6 BB1 -2 BB5 YB
No.6CN
No.7CN
D3 CN6-1 BA2 -5 MU6 7CN-1 MU6
E5 CN6-2 BA3 -6 MV6 -2 MV6
-7 SM T-AXIS
E3 CN6-3 BA4 MW6 -3 MW6
E2 CN6-4 BB4 -8 ME6 -4 ME6
F5 CN6-5 BA5 -1 BA6
F3 CN6-6 BA6 15CN-1 BA5 -2 BB6 YB
-2 BB5 No.8CN
-3 BA6
-4 BB6
No.15CN
PE
E-WRCT (60sq)
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MH6/MH6F 9 Maintenance and Inspection

9.1 Inspection Schedule
9 Maintenance and Inspection
DANGER
• Maintenance and inspection must be performed by specified
personnel.
Failure to observe this caution may result in electric shock or injury.
• For disassembly or repair, contact your YASKAWA representative.
• Do not remove the motor, and do not release the brake.
Failure to observe this caution may result in 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 this caution may result in the loss of home position data.

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 Fig. 9-1 “Inspection Items”.
In Table 9-1, 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.
• The inspection interval depends on the total servo

operation time.
• The following inspection schedule is based on the case
where the manipulator is used for arc welding application.
If the manipulator is used for other application or if it is
NOTE used under special conditions, a case-by-case
examination is required.
The inspection may be conducted at shorter intervals if the
manipulator is used very frequently for the application
such as handling; in this case, contact your YASKAWA
representative.
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Table 9-1: Inspection Items (Sheet 1 of 2)
Items1) Schedule Method Operation Inspectio
n
Charge
12000 HCycle
1000 HCycle
6000 HCycle
Specified
Licensee
24000 H
36000 H
Service
Daily

9
1 Alignment mark
• Visual Check tram mark accordance and damage at the home position.
• • •
Maintenance and Inspection

2 External lead
• Visual Check for damage and deterioration of leads.
• • •
3 Working area and
manipulator
• Visual Clean the work area if dust or spatter is present.
Check for damage and outside cracks.
• • •
Check for grease leakage2).
4 S-, L-, U-axis motors
• Visual
• • •
5 Baseplate mounting bolts
• Spanner Tighten loose bolts. Replace if necessary.
• • •
9-2
Wrench
6 Cover mounting screws
• Screwdriver
Wrench
Tighten loose bolts. Replace if necessary.
• • •
7 Base connectors
• Manual Check for loose connectors.
• • •
8 B- and T-axis timing belts
• Manual Check for belt tension and wear.
• •
9 Wire harness in manipulator
(Leads for S-, L-, U-, R-, B-,
• Visual
Multimeter
Check for conduction between the main connecter of base and
intermediate connector with manually shaking the wire.
• •
and T-axes) Check for wear of protective spring3).
• Replace4)
•
• • •
HW0484977
01 Wire harness In manipulator Visual Check for conduction between terminals and wear of protective
(Leads for B- and T-axes) Multimeter spring3).
Replace4).
• •
11 Battery pack in manipulator
• Replace the battery pack when the battery alarm occurs or the
manipulator drove for 36000 H.
• •
21 S-axis speed reducer
• • Grease Gun Check for malfunction. (Replace if necessary.)
Supply grease5) (6000 H cycle). See chapter 9.3.1 .
• •
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Replace grease5) (12000 H cycle). See chapter 9.3.1 .
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Table 9-1: Inspection Items (Sheet 2 of 2)
MH6/MH6F
156160-1CD
Items1) Schedule Method Operation Inspectio
n
Charge
12000 HCycle
1000 HCycle
6000 HCycle
Specified
Licensee
24000 H
36000 H
Service
Daily
31 L- and U-axis speed
• • Grease Gun Check for malfunction. (Replace if necessary.)
• •

9
reducers Supply grease5) (6000 H cycle). See chapter 9.3.2 and
chapter 9.3.3 .
Maintenance and Inspection

Replace grease5) (12000 H cycle). See chapter 9.3.2 ,
chapter 9.3.3 and chapter 9.3.5
41 R-, B-, and T-axis speed
reducers
• Grease Gun Check for malfunction. (Replace if necessary.)
Supply grease5) (6000 H cycle).
• •
See chapter 9.3.3.2 and chapter 9.3.5 .
51 T-axis gear
• •
9-3
Supply grease5) (6000 H cycle). See chapter 9.3.6 .

61 R-axis cross roller bearing
Supply grease5) (6000 H cycle). See chapter 9.3.3.2 .
• •
71 Overhaul
• •
1 Inspection No. correspond to the numbers in Fig. 9-1 “Inspection Items”.
2 The occurrence of a grease leakage indicates the possibility that grease has seeped into the motor. This can cause a motor breakdown. Contact your YASKAWA
representative.
HW0484977
3 When checking for conduction with multimeter, connect the battery to “BAT” and “OBT” of connectors on the motor side for each axis, and then remove connectors
on detector side for each axis from the motor. Otherwise, the home position may be lost. (Refer to section 9.3.8 “Notes for Maintenance”.)
4 Wire harness in manipulator to be replaced at 24000 H inspection.
5 For the grease, refer to Table 9-2 “Inspection Parts and Grease Used”.
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Fig. 9-1: Inspection Items
MH6/MH6F
5
8
B-axis

9 Maintenance and Inspection
R-axis B-axis
14 T-axis 15 14 16
9-4
4
13
13
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11
12
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Table 9-2: Inspection Parts and Grease Used

No. Grease Used Inspected Parts
12,13 VIGO Grease S-, L-, and U-axis speed reducers
RE No.0
14,15 Harmonic R-, B-, and T-axis speed reducers,
Grease SK-1A T-axis gear
16 Alvania EP R-axis cross roller bearings
Grease 2
The numbers in the above table correspond to the numbers in Table 9-1
“Inspection Items”.
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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”. If the battery alarm occurs in the DX100/FS100, replace the
battery in accordance with the following procedure:
Fig. 9-2: Battery Location
2BC
1BC
3BC
Support
Battery pack
Connector base
Plate fastening bolt
Fig. 9-3: Battery Connection
See procedure 5 Battery pack before replacement
Connector
Circuit board
(type: SGDR-EFBA02A) See procedure 4
New battery pack
1. Turn OFF the DX100/FS100 main power supply.

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

7. Reinstall the plate.
NOTE Do not allow plate to pinch the cables when reinstalling the
plate.
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9.3 Notes on Grease Replenishment/Exchange Procedures

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.
• If grease is injected without removing the plug/screw from

the grease exhaust port, the grease will leak inside a
motor or an oil seal of a speed reducer will come off, which
may result in damage to the motor. Make sure to remove
the plug/screw.
• Do not install a joint, a hose, etc. to a grease exhaust port.
NOTE 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.
9.3.1 Grease Replenishment/Exchange for S-Axis Speed Reducer

Fig. 9-4: S-Axis Speed Reducer Diagram
Grease exhaust port

Hexagon socket
head plug PT1/8
2BC
1BC
3BC
38-100mm2 10.0Nžm
YB-100
250V 240A
S-axis speed reducer
Grease inlet
Hexagon socket head plug PT1/8
NOTE For the ceiling-mounted manipulator, the grease exhaust

port and the grease inlet are inverted.
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9.3.1.1 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 plugs PT1/8 from the grease inlet
and grease exhaust port.
• 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 plugs before the grease injection.
NOTE
Failure to observe this instruction may result in damage to
2. Install the grease zerk PT1/8 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: VIGO Grease RE No. 0
– Amount of grease: 70 cc (140 cc for 1st supply)
– Air supply pressure of grease pump: 0.3 MPa or less
– Grease injection rate: 8 g/s or less
4. Move the S-axis for a few minutes to discharge the excess grease.
5. Wipe the discharged grease with a cloth. Remove the grease zerk
from the grease inlet, and reinstall the plugs to the grease inlet and
grease exhaust port.
Before installing the plugs, apply ThreeBond 1206C on the thread part
of each plug, then tighten the plugs with a tightening torque of 4.9 N•m
(0.5 kgf•m).
9.3.1.2 Grease Exchange

(Refer to Fig. 9-4 “S-Axis Speed Reducer Diagram”.)
1. Remove the hexagon socket head plug PT 1/8 from the grease
exhaust port.
• If grease is injected with the plug on, the grease will leak
remove the plug before the grease injection.
NOTE
2. Install the grease zerk PT1/8 to the grease inlet.

(The grease zerk is delivered with the manipulator.)
3. Inject the grease through the grease inlet using a grease gun.
– Amount of grease: approx. 450 cc
9-9 HW0484977 58 of 82
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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.
6. Wipe the discharged grease with a cloth. Remove the grease zerk
from the grease inlet, then reinstall the hexagon socket head plug PT
1/8 to the inlet and exhaust port.
of each plug, then tighten the plug with a tightening torque of 4.9 N•m
(0.5 kgf•m).
9.3.2 Grease Replenishment/Exchange for L-Axis Speed Reducer

Fig. 9-5: L-Axis Speed Reducer Diagram
Grease exhaust port

Hexagon socket head plug PT1/8
L-arm
Grease inlet
Hexagon socket head
cap screw M6
NOTE For ceiling-mounted manipulators, the grease exhaust port

and the grease inlet are inverted

(Refer to Fig. 9-5 “L-Axis Speed Reducer Diagram”.)
1. Make the L-arm vertical to ground.
exhaust port.
9-10 HW0484977 59 of 82
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3. Remove the hexagon socket head cap screw M6 from the grease inlet.
• 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.
NOTE
4. Install the grease zerk A-MT6 x 1 to the grease inlet. (The grease zerk
is delivered with the manipulator.)
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.
7. Remove the grease zerk from the grease inlet and reinstall the screw.
Before installing the screw, apply ThreeBond 1206C on the thread part
of each screw, then tighten the screw with a tightening torque of
10 N•m (1.0 kgf•m).
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 ThreeBond 1206C on the thread part
(0.5 kgf•m).

(Refer to Fig. 9-5 “L-Axis Speed Reducer Diagram”.)
1. Make the L-arm vertical to ground.
exhaust port.
3. Remove the hexagon socket head cap screw M6 from the grease inlet.
• 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.
NOTE
4. Install the grease zerk A-MT6 x 1 to the grease inlet.

(The grease zerk is delivered with the manipulator.)
– Amount of grease: approx. 420 cc
9-11 HW0484977 60 of 82
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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 cap screw M6 to the grease inlet.
10 N•m (1.0 kgf•m).
9. Wipe the discharged grease with a cloth and reinstall the plug to the
exhaust port.
(0.5 kgf•m).
9.3.3 Grease Replenishment/Exchange for U-Axis Speed Reducer

Fig. 9-6: U-Axis Speed Reducer Diagram
U-arm
Grease exhaust port

Hexagon socket head
cap screw M6
U-axis speed reducer

Grease inlet
Hexagon socket head
plug PT1/8
NOTE For ceiling-mounted manipulators, the grease exhaust port

and the grease inlet are inverted.

(Refer to Fig. 9-6 “U-Axis Speed Reducer Diagram”.)
1. Make the U-arm horizontal to ground.
2. Remove the hexagon socket head cap screw M6 from the grease
exhaust port.
9-12 HW0484977 61 of 82
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3. Remove the hexagon socket head plug PT 1/8 from the grease inlet.
• If grease is injected with the bolt on, the grease will leak
remove the bolt before the grease injection.
NOTE
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 plug.
(0.5 kgf•m)
socket head cap screw M6 to the exhaust port.
10 N•m (1.0 kgf•m).

(Refer to Fig. 9-6 “U-Axis Speed Reducer Diagram”.)
1. Make the U-arm horizontal to ground.
2. Remove the hexagon socket head cap screw M6 from the grease
exhaust port.
3. Remove the hexagon socket head plug PT 1/8 from the grease inlet.
• If grease is injected with the bolt on, the grease will leak
remove the bolt before the grease injection.
NOTE
– Amount of grease: approx.200 cc
9-13 HW0484977 62 of 82
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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 U-axes for a few minutes to discharge the excess grease.
hexagon socket head plug PT 1/8.
(0.5 kgf•m).
socket head cap screw M6 to the exhaust port.
10 N•m (1.0 kgf•m).
9.3.4 Grease Replenishment for R-Axis Speed Reducer

Fig. 9-7: R-Axis Speed Reducer Diagram
Pipe plug
Exhaust port
Grease inlet (Plug LP-M5)
Grease zerk A-MT6X1
1. Remove a plug LP-M5 from the exhaust port.

2. Remove the pipe plug.
(Refer to Fig. 9-7 “R-Axis Speed Reducer Diagram”.)
– Grease type: Harmonic grease SK-1A
The exhaust port is used for air exhaust, and the grease is
NOTE not exhausted from the exhaust port. Do not inject
excessive grease through the grease inlet.
4. Reinstall the pipe plug.

5. Reinstall the plug LP-M5 on the exhaust port.
9-14 HW0484977 63 of 82
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9.3.5 Grease Replenishment for B- and T-Axis Speed Reducers

Fig. 9-8: B- and T-Axis Speed Reducers Diagram
Exhaust port (T-axis)

(Hexagon socket
head cap screw M6)
T-axis speed
reducer
Exhaust port (B-axis)

(Plug LP-M5)
B-axis speed reducer Grease inlet (T-axis)
(Hexagon socket
head cap screw M6)
Grease inlet (B-axis)
(Hexagon socket
head cap screw M6)
1. Remove the plug LP-M5 of B-axis or the hexagon socket head cap
screw M6 of T-axis from the exhaust ports.
NOTE Remove the U-arm cover side of the B-axis speed reducer.
2. Remove the hexagon socket head cap screws M6 from the grease
inlets and install the grease zerk A-MT6 x 1. (The grease zerk is
3. Inject grease through the grease inlets using a grease
gun. (Refer to Fig. 9-8 “B- and T-Axis Speed Reducers Diagram”)
– Amount of grease: For B-axis: 10 cc (20 cc for 1st supply)
– Amount of grease: For T-axis: 5 cc (10 cc for 1st supply)
4. Remove the grease zerk form the grease inlets and reinstall the
screws. Before installing the screws, apply ThreeBond 1206C on the
thread part of them, then tighten the screws with a tightening torque of
6 N•m (0.6 kgf•m).
9-15 HW0484977 64 of 82
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5. Reinstall the plug LP-M5 of B-axis or the hexagon socket head cap
screw M6 of T-axis to the exhaust ports.
Before installing the plug/screw, apply ThreeBond 1206C on the
thread part, then tighten them with a tightening torque of 6 N•m
(0.6 kgf•m).
NOTE Mount the U-arm cover side of the B-axis speed reducer.
(Refer to section 9.3.8 “Notes for Maintenance”.)
9.3.6 Grease Replenishment for T-Axis Gear

Fig. 9-9: T-Axis Gear Diagram
Exhaust port
(Plug LP-M5)
Grease inlet
(Hexagon socket head
cap screw M6)
1. Remove the plug LP-M5 from the grease exhaust port.

2. Remove the hexagon socket head cap screw M6 from the grease inlet,
then install the grease zerk A-MT6 x 1. (The grease zerk is delivered
with the manipulator.)
(Refer to Fig. 9-9 “T-Axis Gear Diagram”)
– Amount of grease: 5 cc (10 cc for the 1st supply)
hexagon socket head cap screw M6.
of the screw, then tighten the screw with a tightening torque of 6 N•m
(0.6 kgf•m).
5. Reinstall the plug LP-M5 to the exhaust port.
Apply ThreeBond 1206C to screwed parts when installing the plug.
9-16 HW0484977 65 of 82
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9.3.7 Grease Replenishment for R-Axis Cross Roller Bearing

Fig. 9-10: R-Axis Cross Roller Bearing Diagram
R-axis cross roller bearing Exhaust port

(Plug LP-M5)
Grease inlet
Hexagon socket head
cap screw M6
1. Remove the plug LP-M5 from the exhaust port.

2. Remove the hexagon socket head cap screw M6 from the grease inlet,
then install the grease zerk A-MT6 x 1. (The grease zerk is delivered
with the manipulator.)
(Refer to Fig. 9-10 “R-Axis Cross Roller Bearing Diagram”.)
– Grease type: Alvania EP grease 2
– Amount of grease: 3 cc (6 cc for the 1st supply)
NOTE The exhaust port is used for air flow. Do not inject
excessive grease through the gear grease inlet.
hexagon socket head cap screw M6.
of the screw, then tighten the screw with a tightening torque of 6 N•m
(0.6 kgf•m).
5. Reinstall the plug LP-M5 to the exhaust port.
Apply ThreeBond 1206C to screwed parts when installing the plug.
9-17 HW0484977 66 of 82
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9.3.8 Notes for Maintenance
9.3.8.1 Wrist Axis

The motor and encoder units are provided with the wrist unit. To prevent
fumes from penetrating into the wrist unit, the matched parts are sealed
with sealing bond. Therefore, if the wrist cover is disassembled, be sure to
reapply the sealing bond when reassemble the cover. (ThreeBond 1206C,
refer to Table 10-1 “Spare Parts for YR-MH00006-A00, -A01, YR-
MH0006F-A00, -A01”.)
Fig. 9-11: Sealing Part of Wrist Unit
Cover
Cover jointing face
Cover jointing face

Cover
9.3.8.2 Battery Pack Connection

Before removing the encoder connector (with CAUTION label), connect
the battery pack referring to the following figures.
9-18 HW0484977 67 of 82
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Fig. 9-12(a): Battery Pack Connector Diagram for S-, L-, and U-Axes
Motor
Power connector
Encoder connector
OBT b a OBT*
BAT a b BAT*
Battery pack: HW9470932
Connector for battery backup
Fig. 9-12(b): Battery Pack Connector Diagram for R-, B-, and T-Axes
Encoder
Motor
Motor cable etc.

Internal wire
Power connector
Connect
a OBT4
OBT b b BAT4
BAT a
removing connector.
to save the data before
Connect battery to encoder
CAUTION
Encoder connector
Battery pack
CAUTION label
OBT b a OBT4
BAT a b BAT4
CAUTION label (Enlarged view)

a: Crimped contact-pin (pin)
b: Crimped contact-pin (socket)
CAUTION
Connect battery to encoder
to save the data before
removing connector.
9-19 HW0484977 68 of 82
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MH6/MH6F 10 Recommended Spare Parts
10 Recommended Spare Parts

It is recommended to keep the parts and components in the following table
in stock as spare parts for the MOTOMAN-MH6/MH6F. 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-MH00006-A00, -A01, YR-MH0006F-A00, -A01 (Sheet 1 of 2)
Rank Parts Name Type Manufacturer Qty. Qty. Remarks

No. per
Unit
A 1 Grease VIGO Grease RE YASKAWA 16 kg -

No.0
A 2 Grease Harmonic Grease Harmonic 2.5 -

SK-1A Drive kg
Systems Inc.
A 3 Grease Alvania EP Showa Shell 16 kg -

Grease 2 Sekiyu K.K.
A 4 Liquid Gasket ThreeBond ThreeBond - -

1206C Co., Ltd.
A 5 Battery Pack HW0470360-A YASKAWA 1 1
A 6 Battery Pack HW9470932-A YASKAWA 1 1 For replacement

of wire harness
in manipulator
B 7 B-axis Timing Belt 60S4.5M558 Mitsuboshi 1 1

Belting Limited
B 8 T-axis Timing Belt 60S4.5M387 Mitsuboshi 1 1

Belting Limited
B 9 S-axis HW0386621-B YASKAWA 1 1

Speed Reducer
B 10 S-axis Input Gear HW0312734-1 YASKAWA 1 1
B 11 L-axis HW0387809-A YASKAWA 1 1

Speed Reducer
B 12 L-axis Input Gear HW0312735-1 YASKAWA 1 1
B 13 U-axis HW9280738-B YASKAWA 1 1

Speed Reducer
10-1 HW0484977 69 of 82
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MH6/MH6F 10 Recommended Spare Parts
Table 10-1: Spare Parts for YR-MH00006-A00, -A01, YR-MH0006F-A00, -A01 (Sheet 2 of 2)
Rank Parts Name Type Manufacturer Qty. Qty. Remarks

No. per
Unit
B 14 U-axis Input Gear HW0303277-4 YASKAWA 1 1
B 15 R-axis HW0382277-A YASKAWA 1 1

Speed Reducer
B 16 B-axis HW0381646-A YASKAWA 1 1

Speed Reducer
B 17 T-axis HW0382917-A YASKAWA 1 1

Speed Reducer
B 18 R-axis Cross HW0381872-A YASKAWA 1 1

Roller Bearing
B 19 Wire Harness in HW0172742-A YASKAWA 1 1

Manipulator
B 20 B- and T-axes HW0270875-A YASKAWA 1 1

Wire Harness in
Manipulator
C 21 S-and U-axes SGMRV-05ANA- YASKAWA 1 2

AC Servomotor YR2*
HW0388664-A
C 22 L-axis SGMRV-09ANA- YASKAWA 1 1

AC Servomotor YR1*
HW0388665-A
C 23 R- B-, and T-axes SGMPH-01ANA- YASKAWA 1 3

AC Servomotor YR1*
HW0389297-A
C 24 Circuit board SGDR-EFBA02A YASKAWA 1 1
10-2 HW0484977 70 of 82
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MH6/MH6F 11 Parts List
11.1 S-Axis Unit
11 Parts List
11.1 S-Axis Unit
1022 1004
1005
1006
1008
1007
1023
1023 1017
1047 1016
1045 1018
1034
1002
1037 1036 1003
1054
1053 1051
1012
1014 1055 1011
1013
1020
1012 1024
1010 1055 1029
1013
1014 1028
1020
1011
1009 1052
1025
1043
1030 1033 1044
1042
1041
1040
1031
1015 1032
1026 1001
1027
1019
11-1 HW0484977 71 of 82
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11.1 S-Axis Unit
Table 11-1: S-Axis Unit (Sheet 1 of 2)

No. DWG No. Name Pcs.
1001 HW0102222-1 Base 1
1002 HW0102223-1 S head 1
1003 HW0312732-1 M base 1
1004 SGMRV-05ANA-YR2* Motor 1
1005 M4X10 GT-SA bolt 1
1006 HW0312734-1 Gear 1
1007 M5X85 Socket screw 1
1008 2H-5 Spring washer 1
1009 HW0412662-1 Support 1
1010 HW0412662-2 Support 1
1011 TA1-S10 Clamp 2
1012 M5X8 Round head screw 2
with spring washer
1013 T50R Cable tie 2
1014 CD-31 Saddle 2
1015 EZ5036A0 Cap 1
1016 POC6-01 Union 1
1017 NB-0640-0.2 Tube 1
1018 PT1/8 Plug 1
1019 M5X10 APS bolt 6
1024 HW0413455-1 Dog 1
1030 HW0386621-B Speed reducer 1
1031 TSH6-01M Union 1
1032 NB-0640-0.3 Tube 1
1033 HW0313539-1 Cover 1
1036 HW0312987-1 Cover 1
1037 HW0313540-A Cover 1
1042 M6 GT-LH washer 5
1043 PMF6-01 Union 1
1044 PT1/8 Plug 1
1051 TS200CHM Terminal 1
11-2 HW0484977 72 of 82
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11.1 S-Axis Unit
Table 11-1: S-Axis Unit (Sheet 2 of 2)

1052 HW0411175-1 Cover 1
1053 HW0314103-1 Support 1
1054 C-30-SG-30A Grommet 1
11-3 HW0484977 73 of 82
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11.2 L-Axis Unit
11.2 L-Axis Unit
2005
2012
2001
2003
2013
2010 1002 2018
2016
2009
2006
2011
2002
2020
2019 2004
2015
2014
Table 11-2: L-Axis Unit

2002 HW0387809-A Speed reducer 1
2003 HW0312735-1 Gear 1
2005 HW0102224-1 L arm 1
2006 HW0312986-1 Cover 1
2013 PT1/8 Plug 1
2018 M6 GT-LH washer 4
2020 M14 GT-SH washer 2
1002 HW0102223-1 S head 1
11-4 HW0484977 74 of 82
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11.3 U-Axis Unit
11.3 U-Axis Unit

3002 3023
3001 3009 3019
3025
3024
3020
3022
3006 3021
3008 3010
3007
3028
3034 3032
3028
3035 3037 3031
3029 3036
3030
3011 3012
3013
3027 3012
3004 3013
3003
3034 3026
3035
2005
11-5 HW0484977 75 of 82
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11.3 U-Axis Unit
Table 11-3: U-Axis Unit

3003 HW9280738-B Speed reducer 1
3006 HW0303277-4 Gear 1
3009 HW0102336-1 Casing 1
3010 HW0201196-1 Cover 1
3012 HW0404179-1 Stopper 2
3019 HW0404718-1 N base 1
3023 HW9481087-A Gasket 1
with spring washer
3025 M3 Nut 2
3027 PT1/8 Plug 1
3028 PT3/8*dacro* Plug 2
3031 KQE10-03 Union 1
3032 KQE12-03 Union 1
2005 HW0102224-1 L arm 1
11-6 HW0484977 76 of 82
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11.4 R-Axis Unit
11.4 R-Axis Unit

5008
4009
4008
4010
4037
4036
4007
4035 4039
4026
4008 4040
4042
4027
4037 4030
4032 4029
4028
4031
4004 4017
4021 4023
4012 4022 4033
4018
4028
4024 4019
4020 3009
4011 4038
4041 4003 4015 4030
4025 4014 4029
4016
4001 4034
4003
4013
4006
4002 4005
11-7 HW0484977 77 of 82
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11.4 R-Axis Unit
Table 11-4: R-Axis Unit

4001 SGMPH-01ANA-YR1* Motor 1
4006 H-3 Spring washer 12
4007 HW0381872-A Cross roller bearing 1
4011 TC12227FKM Oil seal 1
4012 6809ZZ Bearing 1
4013 HW0404161-1 M base 1
4016 HW0404163-1 Fly wheel 1
4017 HW0304348-1 Shaft 1
4018 HW0404196-1 Washer 1
4021 HW0404164-1 Shaft 1
4022 HW0404717-2 Support 1
4024 HW0304455-1 Cover 1
4026 HW0404478-2 Cover 1
4028 HW0403879-1 Saddle 2
4031 TA1-S8 Clamp 1
with spring washer
4033 T18L Cable tie 1
4034 T50R Cable tie 2
4035 HW0404720-1 Cover 1
4037 LP-M5 Plug 2
4038 MT6X1 Grease zerk 1
4040 EZ5036A0 Cap 1
4041 HW0404304-1 Packing 1
4042 M5X10 APS bolt 1
3009 HW0102336-1 Casing 1
11-8 HW0484977 78 of 82
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11.5 Wrist Unit
11.5 Wrist Unit

5041
5042
5040
5046
5059
5054 5007
5060 5045
5043
5044
5061 5050
5036 5005
5037
5027 5053
5010 5039
5029 5060
5024 5038
5011 5026 5051
5017 5028 5060
5031
5019
5023 5035
5024 5030
5032 5052
5016
5015
5013 5014 5001 5062
5012 5063
5002 5064
5033 5003
5049
5057
5058 5055
5056 5060
5001
5004 5021
5025
5002 5048
5047 5022 5010
5018 5034
5008 5020
5024
5011
3009
11-9 HW0484977 79 of 82
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11.5 Wrist Unit
Table 11-5: Wrist Unit (Sheet 1 of 2)

5001 SGMPH-01ANA-YR1* Motor 2
5008 HW0100620-1 U arm 1
5009 HW0200491-1 Wrist base 1
5010 HW9200780-1 Cover 2
5012 HW9406556-1 Support 1
5014 TA1-S8 Clamp 1
with spring washer
5016 T18L Cable tie 1
5017 HW9482352-A Pulley 1
5018 HW0481429-A Pulley 1
5019 60S4.5M387 Belt 1
5020 60S4.5M558 Belt 1
5021 HW0481692-A Pulley 1
5022 RTW28 Retaining ring C-type 1
5023 HW9482220-A Pulley 1
5026 HW9404988-1 B cover 1
5028 HW0404266-1 Housing 1
5030 HW9381452-A Gear 1
5031 6811LLU Bearing 1
5032 HW9482218-A Bearing 1
5033 688A Bearing 1
5034 6902ZZ*NS7* Bearing 1
5035 6812LLU Bearing 1
5036 HW9381384-A Gear 1
5038 HW9405199-1 B nut 1
5039 HW9481180-A Bearing 1
5040 HW0404550-1 Housing 1
5043 HW9481024-A Bearing 1
11-10 HW0484977 80 of 82
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11.5 Wrist Unit
Table 11-5: Wrist Unit (Sheet 2 of 2)

5044 HW0307678-1 Shaft 1
5045 HW0307679-1 Flange 1
5047 HW0403705-1 Housing 1
5050 SP-0120** Shim 1
5051 HW0404302-1 Shaft 1
5053 HW0303912-1 Housing 1
5055 HW0404303-1 Collar 1
5056 HW0404279-1 Block 1
5059 HW0404371-2 Bolt 1
5061 LP-M5 Plug 1
5064 M6 Washer 1
3009 HW0102336-1 Casing 1
5061 LP-M5 Plug 1
5064 M6 Washer 1
3009 HW0102336-1 Casing 1
5061 LP-M5 Plug 1
5064 M6 Washer 1
3009 HW0102336-1 Casing 1
11-11 HW0484977 81 of 82
MOTOMAN-MH6/MH6F
INSTRUCTIONS
HEAD OFFICE
2-1 Kurosakishiroishi, Yahatanishi-ku, Kitakyushu 806-0004, Japan
Phone +81-93-645-7703 Fax +81-93-645-7802
YASKAWA America Inc. (Motoman Robotics Division)

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

Yaskawastrasse 1, 85391 Allershausen, Germany
Phone +49-8166-90-100 Fax +49-8166-90-103
YASKAWA Nordic AB
Verkstadsgatan 2, Box 504 ,SE-385 25 Torsas, Sweden
Phone +46-480-417-800 Fax +46-486-414-10
YASKAWA Electric (China) Co., Ltd.

22F, One Corporate Avenue, No.222, Hubin Road, Huangpu District, Shanghai 200021, China
Phone +86-21-5385-2200 Fax 㸩86-21-5385-3299
YASKAWA SHOUGANG ROBOT Co. Ltd.
No7 Yongchang North Road, Beijing E&T Development AreaChina 100176
Phone +86-10-6788-2858 Fax +86-10-6788-2878
YASKAWA India Private Ltd. (Robotics Division)

#426, Udyog Vihar, Phase- IV,Gurgaon, Haryana, India
Phone +91-124-475-8500 Fax +91-124-475-8542
YASKAWA Electric Korea Corporation

35F, Three IFC, 10 Gukjegeumyung-ro, Yeongdeungpo-gu, Seoul, Korea 07326
Phone +82-2-784-7844 Fax +82-2-784-8495
YASKAWA Electric Taiwan Corporation

12F, No.207, Sec. 3, Beishin Rd., Shindian District, New Taipei City 23143, Taiwan
Phone +886-2-8913-1333 Fax +886-2-8913-1513
YASKAWA Electric (Singapore) PTE Ltd.

151 Lorong Chuan, #04-02A, New Tech Park, Singapore 556741
Phone +65-6282-3003 Fax +65-6289-3003
YASKAWA Electric (Thailand) Co., Ltd.

59,1st-5th Floor, Flourish Building, Soi Ratchadapisek 18,Ratchadapisek Road,
Huaykwang, Bangkok 10310, THAILAND
Phone +66-2-017-0099 Fax +66-2-017-0199
PT. YASKAWA Electric Indonesia

Secure Building-Gedung B Lantai Dasar & Lantai 1 JI. Raya Protokol Halim Perdanakusuma,
Jakarta 13610, Indonesia
Phone +62-21-2982-6470 Fax +62-21-2982-6741
Specifications are subject to change without notice

for ongoing product modifications and improvements.
MANUAL NO.
HW0484977 6 82 of 82

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MOTOMAN-MH6/MH6F

The DX100 operator’s manual above corresponds to specific usage.

Part Number: 156160-1CD

Copyright © 2017 YASKAWA America, Inc.

Terms of Use and Copyright Notice

Printed in the United States of America

First Printing, 2017

YASKAWA America, Inc.

Notes for Safe Operation

Indicates an imminent hazardous

Indicates a potentially hazardous

Indicates a potentially hazardous

Always be sure to follow explicitly

PROHIBITED Must never be performed.

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

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

MH6/MH6F Notes for Safe Operation

• Observe the following precautions when performing teaching

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

• Observe the following precautions when performing teaching

MH6/MH6F Definition of Terms Used Often in This Manual (DX100)

Definition of Terms Used Often in This Manual (DX100)

Definition of Terms Used Often in This Manual (FS100)

Description of the Operation Procedure

MH6/MH6F Explanation of Warning Labels

Explanation of Warning Labels

Nameplate: WARNING Label A:

Mechanical Safety Devices

MH6/MH6F Programming, Operation, and Maintenance Safety

Programming, Operation, and Maintenance Safety

Summary of Warning Information

MH6/MH6F Customer Support Information

Customer Support Information

When using e-mail to contact YASKAWA Customer Support, please

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

• Primary Application ___________________________

• Software Version Access this information on the

• Robot Serial Number Located on the robot data plate

• Robot Sales Order Number Located on the DX100/FS100

1 Product Confirmation ...................................................................................................................... 1-1

1.1 Contents Confirmation ....................................................................................................... 1-1

1.2 Order Number Confirmation .............................................................................................. 1-2

2.1 Transport Method .............................................................................................................. 2-1

2.1.1 Using a Crane ...................................................................................................... 2-1

2.1.2 Using a Forklift...................................................................................................... 2-3

2.2 Shipping Bolts and Brackets.............................................................................................. 2-3

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

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

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

3.3 Types of Mounting ............................................................................................................. 3-4

3.3.1 S-axis Operating Range ....................................................................................... 3-4

3.3.2 Fixing the Manipulator Base ................................................................................. 3-4

3.3.3 Precautions to Prevent the Manipulator from Falling............................................ 3-4

3.4 Location ............................................................................................................................. 3-5

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 DX100/FS100.......................................................................... 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 Alterable Operating Range ................................................................................................ 5-4