Instructions: Motoman-Mh5S Ii

MOTOMAN-MH5S II

INSTRUCTIONS
TYPE:
YR-MH0005S-J00 (STANDARD SPECIFICATION DX200/FS100)
YR-MH0005S-J01 (DRIP-PROOF SPECIFICATION DX200/FS100)
YR-MH0005S-K00 (ARC SPECIFICATION DX200)

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

MOTOMAN INSTRUCTIONS
MOTOMAN-MH5S II INSTRUCTIONS
DX200 INSTRUCTIONS
DX200 OPERATOR’S MANUAL (for each purpose)
DX200 MAINTENANCE MANUAL
FS100 INSTRUCTIONS
FS100 OPERATOR’S MANUAL
FS100 MAINTENANCE MANUAL
172401-1CD
3
MANUAL NO.
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MANDATORY
• This instruction manual is intended to explain mainly on the
mechanical part of the MOTOMAN-MH5S II for the application to
the actual operation and for proper maintenance and inspection. It
describes on safety and handling, details on specifications,
necessary items on maintenance and inspection, to explain
operating instructions and maintenance procedures. Be sure to
read and understand this instruction manual thoroughly before
installing and operating the manipulator.
• General items related to safety are listed in Chapter 1: Safety of the
DX200 / FS100 Instructions. To ensure correct and safe operation,
carefully read the DX200 / FS100 Instructions before reading this
manual.
CAUTION
• Some drawings in this manual are shown with the protective covers
or shields removed for clarity. Be sure all covers and shields are
replaced before operating this product.
• The drawings and photos in this manual are representative
examples and differences may exist between them and the
delivered product.
• YASKAWA may modify this model without notice when necessary
due to product improvements, modifications, or changes in
specifications.
• If such modification is made, the manual number will also be
revised.
• If your copy of the manual is damaged or lost, contact a YASKAWA
representative to order a new copy. The representatives are listed
on the back cover. Be sure to tell the representative the manual
number listed on the front cover.
• YASKAWA is not responsible for incidents arising from unauthorized
modification of its products. Unauthorized modification voids your
product's warranty.
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Notes for Safe Operation

Read this manual carefully before installation, operation, maintenance, or
inspection of the MOTOMAN-MH5S II.
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 the

MANDATORY items listed under this heading.
Must never be performed.

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

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

NOTE to follow all instructions, even if not designated as “DAN-
GER”, “WARNING” and “CAUTION” .
DANGER
• Maintenance and inspection must be performed by specified
personnel.
Failure to observe this caution may result in electric shock or injury.
• For disassembly or repair, contact your YASKAWA representative.
• Do not remove the motor, and do not release the brake.
Failure to observe these safety precautions may result in death or
serious injury from unexpected turning of the manipulator's arm.
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<DX200>
WARNING
• Before operating the manipulator, check that servo power is turned
OFF pressing the emergency stop buttons on the front door of the
DX200 and the programming pendant.
When the servo power is turned OFF, the SERVO ON LED on the
programming pendant is turned OFF.
Injury or damage to machinery may result if the emergency stop circuit
cannot stop the manipulator during an emergency. The manipulator
should not be used if the emergency stop buttons do not function.
Fig. : Emergency Stop Button
• Once the emergency stop button is released, clear the cell of all
items which could interfere with the operation of the manipulator.
Then turn the servo power ON.
Injury may result from unintentional or unexpected manipulator motion.
Fig. : Release of Emergency Stop
TURN
• Observe the following precautions when performing teaching

operations within the P-point maximum envelope of the
manipulator:
– Be sure to use a lockout device to the safeguarding when going
inside. Also, display the sign that the operation is being
performed inside the safeguarding and make sure no one closes
the safeguarding.
– View the manipulator from the front whenever possible.
– Always follow the predetermined operating procedure.
– Keep in mind the emergency response measures against the
manipulator’s unexpected motion toward you.
– Ensure that you have a safe place to retreat in case of
emergency.
Improper or unintended manipulator operation may result in injury.
• Confirm that no person is present in the P-point maximum envelope
of the manipulator and that you are in a safe location before:
– Turning ON the power for the DX200.
– Moving the manipulator with the programming pendant.
– Running the system in the check mode.
– Performing automatic operations.
Injury may result if anyone enters the P-point maximum envelope of the
manipulator during operation. Always press an emergency stop button
immediately if there is a problem.
The emergency stop buttons are located on the right of front door of the
DX200 and the programming pendant.
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<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.
– 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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CAUTION
• Perform the following inspection procedures prior to conducting
manipulator teaching. If problems are found, repair them
immediately, and be sure that all other necessary processing has
been performed.
– Check for problems in manipulator movement.
– Check for damage to insulation and sheathing of external wires.
• Always return the programming pendant to the hook on the cabinet
of the DX200 / FS100 after use.
The programming pendant can be damaged if it is left in the
manipulator's work area, on the floor, or near fixtures.
• Read and understand the Explanation of Warning Labels in the
DX200 / FS100 Instructions before operating the manipulator:
Definition of Terms Used Often in This Manual (DX200)

The MOTOMAN is the YASKAWA industrial robot product.
The MOTOMAN usually consists of the manipulator, the controller, the
programming pendant, and supply cables.
In this manual, the equipment is designated as follows:
Equipment Manual Designation
DX200 controller DX200
DX200 programming pendant Programming pendant
Cable between the manipulator and the 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
Registered Trademark
In this manual, names of companies, corporations, or products are
trademarks, registered trademarks, or brand names for each company or
corporation. The indications of (R) and TM are omitted.
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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
Nameplate Warning Label B
Warning Label B
Warning Label A
Nameplate WARNING Label A:
MODEL
WARNING
MOTOMAN-
TYPE Moving parts
PAYLOAD MASS may cause
ORDER NO.
kg
DATE
kg
injury
SERIAL NO.
YASKAWA ELECTRIC CORPORATION

2-1 Kurosakishiroishi, Yahatanishi-ku,
Kitakyushu 806-0004 Japan
WARNING Label B:
MADE IN JAPAN NJ3878
WARNING
Do not enter
robot
work area.
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1 Product Confirmation ...................................................................................................................... 1-1
1.1 Contents Confirmation ....................................................................................................... 1-1
1.2 Order Number Confirmation............................................................................................... 1-2
2 Transporting .................................................................................................................................... 2-1
2.1 Transporting Method.......................................................................................................... 2-1
2.1.1 Using a Crane....................................................................................................... 2-2
2.1.2 Using a Forklift...................................................................................................... 2-2
2.2 Shipping Bolts and Brackets .............................................................................................. 2-3
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 Mounting Method ............................................................................................................... 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 .......................................................................................................................... 4-2
4.2 Cable Connection .............................................................................................................. 4-3
4.2.1 Connection to the Manipulator.............................................................................. 4-3
4.2.2 Connection to the DX200/FS100 .......................................................................... 4-3
5 Basic Specifications ........................................................................................................................ 5-1
5.1 Basic Specifications ........................................................................................................... 5-1
5.2 Part Names and Working Axes.......................................................................................... 5-2
5.3 Baseplate Dimensions ....................................................................................................... 5-2
5.4 Dimensions and P-Point Maximum Envelope.................................................................... 5-3
5.5 Stopping Angle and Time at the Emergency Stop ............................................................. 5-4
5.5.1 Stop Category 0: Emergency Stop ....................................................................... 5-4

5.5.1.1 Position 100% ......................................................................................... 5-4
5.5.1.2 Position 66% ........................................................................................... 5-5
5.5.1.3 Position 33% ........................................................................................... 5-6
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5.5.2 Stop Category 1: Emergency Stop ....................................................................... 5-7
5.6 Alterable Operating Range ................................................................................................ 5-8
6 Allowable Load for Wrist Axis and Wrist Flange ............................................................................. 6-1
6.1 Allowable Wrist Load ......................................................................................................... 6-1
6.2 Wrist Flange....................................................................................................................... 6-2
7 System Application ......................................................................................................................... 7-1
7.1 Peripheral Equipment Mounts ........................................................................................... 7-1
7.1.1 Allowable Load ..................................................................................................... 7-1
7.2 Internal User I/O Wiring Harness and Air Lines................................................................. 7-2
8 Electrical Equipment Specification.................................................................................................. 8-1
8.1 Internal Connections.......................................................................................................... 8-1
9 Maintenance and Inspection ........................................................................................................... 9-1
9.1 Inspection Schedule .......................................................................................................... 9-1
9.2 Notes on Maintenance Procedures ................................................................................... 9-5
9.2.1 Battery pack Replacement ................................................................................... 9-5
9.3 Notes on Grease Replenishment/Exchange Procedures .................................................. 9-7
9.3.1 Grease Replenishment for S-Axis Speed Reducer .............................................. 9-8

9.3.1.1 Grease Replenishment............................................................................ 9-8
9.3.2 Grease Replenishment for S-Axis Gear ............................................................... 9-9

9.3.2.1 Grease Replenishment............................................................................ 9-9
9.3.3 Grease Replenishment for L-Axis Speed Reducer............................................. 9-10

9.3.3.1 Grease Replenishment.......................................................................... 9-10
9.3.4 Grease Replenishment for U-Axis Speed Reducer ............................................ 9-11

9.3.5 Grease Replenishment for R-Axis Speed Reducer ............................................ 9-12

9.3.6 Grease Replenishment for B- and T-Axes Speed Reducers.............................. 9-13

9.3.6.1 Grease Replenishment for B-axis ......................................................... 9-13
9.3.6.2 Grease Replenishment for T-axis.......................................................... 9-14
9.4 Notes for Maintenance..................................................................................................... 9-15
9.4.1 Wrist Unit ............................................................................................................ 9-15
9.4.2 Battery Pack Connector (with CAUTION label) .................................................. 9-15
10 Recommended Spare Parts........................................................................................................ 10-1
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11 Parts List ..................................................................................................................................... 11-1
11.1 S-Axis Unit ..................................................................................................................... 11-1
11.2 L-, U-Axes Unit............................................................................................................... 11-3
11.3 R-Axis Unit ..................................................................................................................... 11-6
11.4 Wrist Unit ....................................................................................................................... 11-8
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1 Product Confirmation
1.1 Contents Confirmation
CAUTION
• Confirm that the manipulator and the DX200/FS100 have the same
order number. Special care must be taken when more than one
manipulator is to be installed.
If the numbers do not match, manipulators may not perform as
expected and cause injury or damage.
1.1 Contents Confirmation

Confirm the contents of the delivery when the product arrives.
Standard delivery includes the following four (six or seven) items
(Information for the content of optional goods is given separately):
DX200 Packing contents

• Manipulator
• DX200 (I include a spare)
• Programing Pendant
• Manipulator cables (between the DX200 and the manipulator)
• Manual
FS100 Packing contents

• Manipulator
• FS100 (I include a spare)
• Manipulator cables (between the FS100 and the manipulator)
• Manual
• Programing Pendant (Option)
• Programing Pendant Dummy connector (Option)
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1.2 Order Number Confirmation
1.2 Order Number Confirmation

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

SHOULD HAVE SAME ORDER NUMBER.
and the DX200/FS100 have the
ORDER NO.
same order number.
G EN
ER
EM
C
Y
S
T O P
NJ1529
CHECK ALL THE DOOR LOCKS

PROPERLY.
NJ3005-1
(b) FS100 (Top View)
(a) DX200 (Front View)
(c) Manipulator (Top View)
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2 Transporting
2.1 Transporting Method
2 Transporting
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 transportation.
The system consists of precision components. Failure to observe the
caution may adversely affect performance.
• Check that the eyebolts are securely fastened.

• The weight of the manipulator is approximately 27kg
including the shipping bolts and brackets. Use a wire
rope strong enough to withstand the weight.
• Attached eyebolts are designed to support the
manipulator mass. Do not use them for anything other
NOTE than transporting the manipulator.
• Mount the shipping bolts and brackets for transporting
the manipulator.
• Avoid putting external force on the arm or motor unit
when transporting by a crane, forklift, or other
equipment. Failure to observe this instruction may
result in injury.
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2 Transporting
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 the manipulator is fixed with the shipping bolts and brackets
before transport, and lift it in the posture as shown in "fig. 2-1
“Transporting Position” .
Fig. 2-1: Transporting Position
Factory setting for angle and pulse of each axis

Axis S L U R B T
Angle 0 -30 -70 0 -50 0
Pulse 0 -33472 -70810 0 -43550 0
2.1.2 Using a Forklift

When using a forklift, the manipulator should be fixed on a pallet with
shipping bolts and brackets 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 (4 bolts)
Pallet
Forklift claw entry
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2 Transporting
2.2 Shipping Bolts and Brackets
2.2 Shipping Bolts and Brackets

The manipulator is equipped with shipping bolts and brackets at A and B
as shown in fig. 2-1 “Transporting Position” to minimize external force
during the transportation.
• The shipping bolts and brackets are painted yellow
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.
Position Bolt Type Pcs

A Hexagon socket head cap screw M6 2
(length: 20 mm) (tensile strength: 1200 N/mm2 or more)
B Hexagon socket head cap screw M5 6
(length: 14 mm) (tensile strength: 1200 N/mm2 or more)
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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 which is damaged or lacking
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. 2-1 “Transporting Position” are
removed.
Failure to observe this caution may result in damage to the driving
parts.
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3 Installation
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 reaction forces
during acceleration and deceleration.
Construct a solid foundation with the appropriate thickness to withstand
maximum reaction forces of the manipulator referring to table 3-1
“Manipulator Reaction Force and Torque” .
A baseplate flatness must be kept at 0.5 mm or less: insufficient flatness
of installation surface may deform the manipulator shape and affect its
functional abilities. Mount the manipulator base as instructed in
chapter 3.2.1 “Mounting Example” .
Table 3-1: Manipulator Reaction Force and Torque
Horizontal rotation Vertical rotation
Reaction force FH Torque MH Reaction force FV Torque MV
Emergency stop 1079 N 765 N•m 1765 N 1000 N•m

(110kgf) (78 kgf•m) (180 kgf) (102 kgf•m)
Acceleration/deceleration 343 N 216 N•m 343 N 265 N•m
(35 kgf) (22 kgf•m) (35 kgf) (27 kgf•m)
Fig. 3-1: Manipulator Reaction Force and Torque
MV
FV
MH
FH
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3 Installation
3.2 Mounting Procedures for Manipulator Base
3.2.1 Mounting Example

For the first process, anchor the base plate firmly to the ground. The
baseplate should be rugged and durable to prevent shifting of the
manipulator or the mounting fixture. It is recommended to prepare a
baseplate of 30 mm or more thickness, and anchor bolts of M10 or larger
size.
The manipulator base is tapped for four mounting holes; securely fix the
manipulator base to the baseplate with four hexagon socket head cap
screws M10 (recommended length: 35 mm).
Next, fix the manipulator base to the baseplate. Tighten the hexagon
socket head cap screws and anchor bolts firmly so that they will not work
loose during the operation.
Refer to fig. 3-2 “Mounting the Manipulator on Baseplate” .
Fig. 3-2: Mounting the Manipulator on Baseplate
Hexagon socket head

cap screw (4 screws)
Spring washer
10
30 Manipulator base
or more
Baseplate
Anchor bolt (M10 or larger)

Baseplate
105 100 ±0.05 +0.012

12 dia.+0.018 (Standard hole) 6 dia. 0 (Standard hole)
0
160 (2 holes)
Baseplate
60 ±0.1 66±0.1
92 ±0.1 92 ±0.1
100 ±0.05 85±0.1
160
194
50
Unit: mm
50
12 dia. hole for mounting (4 holes)

66 ±0.1
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3 Installation
3.3 Mounting Method
3.3 Mounting Method

The MOTOMAN-MH5S II is available in three ways: floor-mounted way
(standard), wall-mounted way, and ceiling-mounted way. For wall-
mounted and ceiling-mounted ways, the three points listed below are
different from the floor-mounted way.
• S-axis Operating Range

• Fixing of the Manipulator Base
• Precautions to Prevent the Manipulator from Falling
3.3.1 S-Axis Operating Range

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

For the wall- and ceiling-mounted ways, be sure to use four hexagon
socket head cap screws M10 (tensile strength: 1200 N/mm2 or more)
when fixing the manipulator base. Use a torque of 48 N·m when
tightening the screws.
3.3.3 Precautions to Prevent the Manipulator from Falling

For the wall- or ceiling-mounted ways, take appropriate measures to avoid
the falling of the manipulator in case of emergency. Refer to fig. 3-3
“Precaution Against Falling” for details.
Fig. 3-3: Precaution Against Falling
Support
Manipulator base
Hexagon socket head cap screw M10
(4 screws)(tensile strength: 1200N/mm2 or more)
Conical spring washer
In case of using the wall-/ceiling-mounted way, inform

YASKAWA of the matter when placing an order. Be sure to
NOTE contact YASKAWA representative (listed on the back cover
of this instruction manual) to execute a wall/ceiling installa-
tion on site.
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3 Installation
3.4 Location
3.4 Location
When installing the 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
(Vibration acceleration: 4.9m/s2 [0.5G] or less)
• Free from large electrical noise (plasma)
• Flatness for installation: 0.5mm or less
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4 Wiring
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. (ex. DO NOT TURN THE POWER ON.)
Failure to observe this warning may result in fire or electric shock.
CAUTION
• Wiring must be performed by authorized or certified personnel.
Failure to observe this caution may result in fire or electric shock.
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4 Wiring
4.1 Grounding
4.1 Grounding
Follow the electrical installation standards and wiring regulations for
grounding. A ground wire of 5.5 mm2 or more is recommended.
Refer to fig. 4-1 “Grounding Method” to connect the ground line directly
to the manipulator.
• 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.
Fig. 4-1: Grounding Method
5.5 mm2 or more
Bolts M8 (for grounding)

Delivered with the manipulator
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4 Wiring
4.2 Cable Connection

Two manipulator cables are delivered with the manipulator; an encoder
cable (1BC) and a power cable (2BC). (Refer to fig. 4-2(a) “Manipulator
Cables for DX200” and fig. 4-2(b) “Manipulator Cables for FS100” .)
Connect the cables to the manipulator base connectors and to the DX200/
FS100. Refer to fig. 4-3(a) “Manipulator Cable Connection (Manipulator
Side)” , fig. 4-3(b) “Manipulator Cable Connection (DX200 Side)” and
fig. 4-3(c) “Manipulator Cable Connection (FS100 Side)”
4.2.1 Connection to the Manipulator

Before connecting cables to the manipulator, verify the numbers on both
the 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 they
click.
NOTE DO NOT cover the cable with heat insulating material, and
avoid multiple cabling.
4.2.2 Connection to the DX200/FS100

Before connecting cables to the DX200, verify the numbers on both
manipulator cables and the connectors on the DX200/FS100.
• DX200
When connecting, insert the cables in the order of X21, then X11,
and depress each lever low until they click.
• FS100
After connecting 2BC to X21on the FS100, connect 1BC to X11 on
the FS100 and depress each lever low until they click.
Fig. 4-2(a): Manipulator Cables for DX200
The DX200 side The Manipulator side

1BC
X11
X11 1BC
1BC Encoder cable
The DX200 side The Manipulator side

2BC
X21
2BC
X21
2BC Power cable
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4 Wiring
Fig. 4-2(b): Manipulator Cables for FS100
The FS100 side The Manipulator side
X11 1BC
1BC Encoder cable
The FS100 side The Manipulator side
2BC
X21
2BC Power cable
　
Fig. 4-3(a): Manipulator Cable Connection (Manipulator Side)
3BC 4BC
AIR1
2BC AIR2
2BC
1BC
1BC
3BC 4BC
AIR1
AIR2
2BC
1BC
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4 Wiring
Fig. 4-3(b): Manipulator Cable Connection (DX200 Side)
X11
X21
Details of Power Supply Ccable Cconnector

(The DX200 Side)
Fig. 4-3(c): Manipulator Cable Connection (FS100 Side)
EV3 EV2
X21 X11
Details of Power Supply Ccable Cconnector
(The FS100 Side)
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5 Basic Specifications
5.1 Basic Specifications
5.1 Basic Specifications

Table 5-1: Basic Specifications1)
Item Model MOTOMAN-MH5S II
Application Handling
Structure Vertically Articulated
Degree of freedom 6
Payload 5 kg
Repeatability2) ±0.02 mm
Range of Motion S-Axis (turning) -170° - +170°
L-Axis (lower arm) -65° - +150°3)
U-Axis (upper arm) -136° - +255°3)
R-Axis (wrist roll) -190° - +190°3)
B-Axis (wrist pitch/yaw) -135° - +135°
T-Axis (wrist twist) -360° - +360°
Maximum Speed S-Axis 6.56 rad/s, 376° /s
L-Axis 6.11 rad/s, 350° /s
U-Axis 6.98 rad/s, 400° /s
R-Axis 7.85 rad/s, 450° /s
B-Axis 7.85 rad/s, 450° /s
T-Axis 12.57 rad/s, 720° /s
4) R-Axis 12 N•m (1.22 kgf•m)
Allowable Moment
B-Axis 12 N•m (1.22 kgf•m)
T-Axis 7 N•m (0.71 kgf•m)
Allowable Inertia (GD24) R-Axis 0.30 kg•m2
B-Axis 0.30 kg•m2
T-Axis 0.10 kg•m2
Approx. Mass 27 kg
Ambient Conditions Temperature 0 to 45°C
Humidity 20 to 80% RH (non-condensing)
Vibration 4.9 m/s2 (0.5G) or less
Others Free from corrosive gas or liquid, or explosive gas
Free from dust, soot, or water
Free from excessive electrical noise (plasma)
Power Capacity 1 kVA
Noise5) 78.4 dB or less
1 SI units are used in this table. However, gravitational unit is used in ( )
2 Conformed to ISO9283
3 Each L-, U- and R-axes has the limit of motion depending on the postures.
4 Refer to fig. 6-1 “Moment Arm Rating” for details on the permissible moment of inertia.
5 Conformed to ISO6926
1, Measurement is carried out when the maximum load is mounted to the manipulator and
operated in the maximum speed.
2, Measurement is carried out:
-between 1.2m and 1.5m above the ground.
-400mm away from the P-point maximum envelope.
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5.2 Part Names and Working Axes
5.2 Part Names and Working Axes

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

Fig. 5-2: Manipulator Base Dimensions
105 100 +0.012

+0.018 6 dia. 0 (Standard hole)
12 dia. 0 (Standard hole)
160 (2 holes)
Baseplate
60 66
160
92
85
194
50
92
100
50
66 12 dia. hole for mounting (4 holes)

10
12
Unit: mm
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5.4 Dimensions and P-Point Maximum Envelope
5.4 Dimensions and P-Point Maximum Envelope

Fig. 5-3: Dimensions and P-Point Maximum Envelope (mm)
170°
R7
06
55
55
35
R2
170°
706
235
501
277
233
114
15
0
88 305 80
947
60
109 109
688
40
P-point
310
474
740
239
330
156
0
178
246
P-point working envelope

51
203
243
0
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5.5 Stopping Angle and Time at the Emergency Stop

Following data on stopping angle and time at the emergency stop are
measured under the standard of ISO10218.
5.5.1 Stop Category 0: Emergency Stop
5.5.1.1 Position 100%

Fig. 5-4: Category 0, Position 100% : Stopping Angle and Time for each
Axis at the Emergency Stop
(a)S-Axis
Stop position of S-axis category0 100% Stop position of S-axis category0 100%
35 0.25
30
0.20
Stopping time[sec]
25
Stopping angle[deg]
0.15
20
15 0.10
10
0.05
5
0 0.00
0 60 120 180 240 300 360 0 60 120 180 240 300 360
Speed[deg/s] Speed[deg/s]
Load100% Load66% Load33% Load100% Load66% Load33%
(b)L-Axis
Stop position of L-axis category0 100% Stop position of L-axis category0 100%
35 0.25
30
0.20
25
Stopping angle[deg]
Stopping time[sec]
20 0.15
15 0.10
10
0.05
5
0 0.00
0 60 120 180 240 300 360 0 60 120 180 240 300 360
(c)U-Axis
Stop position of U-axis category0 100% Stop position of U-axis category0 100%
35 0.25
30
0.20
25
Stopping time[sec]
Stopping angle[deg]
0.15
20
15 0.10
10
0.05
5
0 0.00
0 60 120 180 240 300 360 0 60 120 180 240 300 360
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5.5.1.2 Position 66%

(a)S-Axis
35 0.25
30
0.20
25
Stopping time[sec]
Stopping angle[deg]
0.15
20
15 0.10
10
0.05
5
0 0.00
0 60 120 180 240 300 360 0 60 120 180 240 300 360
(b)L-Axis
35 0.25
30
0.20
25
Stopping time[sec]
Stopping angle[deg]
20 0.15
15
0.10
10
0.05
5
0 0.00
0 60 120 180 240 300 360 0 60 120 180 240 300 360
(c)U-Axis
35 0.25
30
0.20
25
Stopping time[sec]
Stopping angle[deg]
0.15
20
15 0.10
10
0.05
5
0 0.00
0 60 120 180 240 300 360 0 60 120 180 240 300 360
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5.5.1.3 Position 33%

(a)S-Axis
35 0.25
30
0.20
25
Stopping time[sec]
Stopping angle[deg]
0.15
20
15 0.10
10
0.05
5
0 0.00
0 60 120 180 240 300 360 0 60 120 180 240 300 360
(b)L-Axis
35 0.25
30
0.20
25
Stopping time[sec]
Stopping angle[deg]
0.15
20
15 0.10
10
0.05
5
0 0.00
0 60 120 180 240 300 360 0 60 120 180 240 300 360
(c)U-Axis
35 0.25
30
0.20
25
Stopping time[sec]
Stopping angle[deg]
20 0.15
15
0.10
10
0.05
5
0 0.00
0 60 120 180 240 300 360 0 60 120 180 240 300 360
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5.5.2 Stop Category 1: Emergency Stop

The stopping angle and time at the emergency stop in category 1 are not
subjected to the manipulator position and the load.
Stop of category1 doesn't depend on the robot position and the load.
Fig. 5-7: Category 1: Stopping Angle and Time for each Axis at the
Emergency Stop
(a)S-Axis
Stop position of S-axis category1 Stop position of S-axis category1

50 0.60
40 0.50
Stopping angle[deg]
Stopping time[sec]
0.40
30
0.30
20
0.20
10
0.10
0 0.00
0 60 120 180 240 300 360 0 60 120 180 240 300 360
(b)L-Axis
Stop position of L-axis category1 Stop position of L-axis category1

50 0.60
0.50
40
0.40
Stopping time[sec]
Stopping angle[deg]
30
0.30
20
0.20
10 0.10
0 0.00
0 60 120 180 240 300 360 0 60 120 180 240 300 360
(c)U-Axis
Stop position of U-axis category1 Stop position of U-axis category1

50 50
40 40
Stopping angle[deg]
Stopping angle[deg]
30 30
20 20
10 10
0 0
0 60 120 180 240 300 360 0 60 120 180 240 300 360
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5.6 Alterable Operating Range
5.6 Alterable Operating Range

The operating range of the S-axis can be altered in accordance with the
operating conditions as shown in table 5-2 “S-Axis Operating Range” .
If alteration is necessary, contact your YASKAWA representative in
advance.
Table 5-2: S-Axis Operating Range
Item Specifications
S-Axis Operating Range -170° - +170°(standard)
-135° - +135°
-120° - +120°
-105° - +105°
-90° - +90°
-75° - +75°
-60° - +60°
-45° - +45°
-30° - +30°
-15° - +15°
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6 Allowable Load for Wrist Axis and Wrist Flange

6.1 Allowable Wrist Load
6.1 Allowable Wrist Load

The allowable wrist load is 5 kg maximum. If force is applied to the wrist
instead of the load, force on R-, B-, and T-Axes should be within the value
shown in table 6-1 “Allowable Wrist Load” . Contact your YASKAWA
representative for further information or assistance.
Table 6-1: Allowable Wrist Load

Axis Moment N•m (kgf•m)1) GD2/4 Total Inertia kg•m2
R-Axis 12 (1.22) 0.30
B-Axis 12 (1.22) 0.30
T-Axis 7 (0.71) 0.10
1 ( ): Gravitational unit
When the volume load is small, refer to the moment arm rating shown
infig. 6-1 “Moment Arm Rating” .
The allowable total inertia is calculated when the moment is at the
maximum. Contact your YASKAWA representative beforehand when
moment of inertia is the only load, or load moment is smaller than moment
of inertia . Also contact your YASKAWA representative in advance in a
case where the load mass is combined with an external force.
Fig. 6-1: Moment Arm Rating
5kg 3kg 1.5kg

LB
300
258
200
80 182
LT (mm)
LT
141
100
0 100 200 300 400 500

244 316 447
LB(mm)
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6.2 Wrist Flange
6.2 Wrist Flange

The wrist flange dimensions are shown in fig. 6-2 “Wrist Flange” .
It is recommended that the attachment be mounted inside the fitting in
order to identify the alignment marks. Fitting depth shall be 5 mm or less.
Fig. 6-2: Wrist Flange
Tapped hole M5 (4 holes)

(depth: 9) (pitch: 0.8)
P.C
.D.3
1.5
+0.018
0
12 dia.
+0.012
5 dia. 0
(depth: 7)
5
Unit: mm
NOTE Wash off anti-corrosive paint (yellow) on the wrist flange

surface with thinner or light oil before mounting the tools.
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7 System Application
7.1 Peripheral Equipment Mounts
7.1 Peripheral Equipment Mounts

The peripheral equipment mounts are provided on the U-axis (upper arm)
as shown in fig. 7-1 “Installing Peripheral Equipment” for easier
installation of the user’s system applications. The following conditions
shall be observed to attach or install peripheral equipment.
7.1.1 Allowable Load

The allowable load on the U-Axis is a maximum of 6 kg, including the wrist
load.
For instance, when the mass installed in the wrist point is 5 kg, the mass
which can be installed on the upper arm is 1 kg.
Fig. 7-1: Installing Peripheral Equipment

335
(pitch: 0.7) (depth: 8)
210
(Front and Back)
18 37
110
87
40
25

97
Center of upper arm rotation
Unit: mm
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7.2 Internal User I/O Wiring Harness and Air Lines
7.2 Internal User I/O Wiring Harness and Air Lines

Internal user I/O wiring harness (16 wires :0.2 mm2) and two air lines are
incorporated in the manipulator for the drive of the peripheral devices
mounted on the upper arm as shown infig. 7-2 “Connectors for Internal
User I/O Wiring Harness and Air Line” .
The connector pins 1 to 16 are assigned as shown in fig. 7-3 “Details of
the Connector Pin Numbers” . Wiring must be performed by users.
conditions below:
The allowable current for internal user 2.5 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 hose inside diameter: 4mm)
Fig. 7-2: Connectors for Internal User I/O Wiring Harness and Air Line
Connector for internal user I/O wiring harness
(2 socket connectors ):
HR10A-10R-10S(-J00,-K00)(2 socket connectors)
Prepare pin connectors HR10A-10P-10P*HIROSE*
RM15WTPZ-10S(71)(-J01)(2 socket connectors)
Prepare pin connectors RM15WTPZ-10P*HIROSE*
Exhaust port 2:
Exhaust port 1: Tapped hole M5
Tapped hole M5 with pipe plug
with pipe plug Connector for internal user I/O wiring harness:
HR10A-10R-10P(pin connector)
HR10A-10R-10
Prepare socket connector HR10A-10P-10S*HIROSE*
Air inlet 1:
tapped hole PT1/4
3BC 4BC
AIR1 with pipe plug
AIR2
2BC
Air inlet 2:
1BC tapped hole PT1/4
with pipe plug
(-J00,-K00)
Connector for internal user I/O wiring
harness: Air inlet 1:
RM15WTPZ-10P(71) tapped hole PT1/4
3BC 4BC
Prepare socket connector

AIR1
with pipe plug
AIR2
RM15WTPZ-10S*HIROSE*
Air inlet 2:
2BC
tapped hole PT1/4
1BC with pipe plug
(-J01)
Fig. 7-3: Details of the Connector Pin Numbers

1
2 8 1 1
3 2 8 1
7 2 2
4 10 9 3 7
Pins used 5 Pins used 10 9
6 3 4
6 5 3
4 6
7 5 6
8 5 4
9 3BC 4BC
10
Internal User I/O Wiring Harness:
0.2 mm2 (10 wires, 6 wires)
The same pin-number connectors (1-16) at both connector base part and
arm part are connected with the single wire lead of 0.2mm2.
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8 Electrical Equipment Specification

8.1 Internal Connections

High reliability 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. 8-1
“Locations and Numbers of Connectors” .
Diagrams for internal connections of the manipulator are shown in
fig. 8-2(a) “Internal Connection Diagram for DX200 / FS100” , fig. 8-2(b)
“Internal Connection Diagram for DX200 / FS100” .
Fig. 8-1: Locations and Numbers of Connectors
4BC(for internal user I/O wiring harness)

on the U-arm
3BC(for internal user I/O wiring harness)

on the U-arm
3BC(for internal user I/O

wiring harness)
on the connector base
4BC(for internal user I/O
3BC 4BC
AIR1
wiring harness)
AIR2
on the connector base

2BC
1BC
Table 8-1: List of Connector Types

Name Type of Connector
Connector for Internal User I/O HR10A-10R-10P（-J00, -K00）
Wiring Harness on the connector (HR10A-10P-10P*HIROSE*: Optional)
base RM15WTPZ-10P(71)（-J01）
(RM15WTPZ-10P(71)*HIROSE*: Optional)
Connector for Internal User I/O HR10A-10R-10S（-J00, -K00）
Wiring Harness on the U-arm (HR10A-10P-10S*HIROSE*: Optional)
RM15WTPZ-10S(71)（-J01）
(RM15WTPZ-10S(71)*HIROSE*: Optional)
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Fig. 8-2(a): Internal Connection Diagram for DX200 / FS100

POWER CABLE INTERNAL CABLE IN S-AXIS INTERNAL CABLE IN L-AXIS INTERNAL CABLE IN BT-AXIS
0BT 1 0BAT11 17 0BAT1

P BAT 2 BAT11 18 BAT1
0BT 3 0BAT12 19 0BAT2
21 0BAT3
22 BAT3
23
24
0BT 5 0BAT21 25 0BAT4
0BT 7 0BAT22 27 0BAT5
29 0BAT6
30 BAT6
1 31
2 32
3 1 PG0V1
4 2 PG5V1
5 3 PG0V2
6 4 PG5V2
7 5 PG0V3
8 6 PG5V3
7 PG0V4
8 PG5V4
1BC(10X4)
FS100 DX200 No.1CN X
9
10
PG0V5
PG5V5
B2 CN1-5 CN1-5 +24V -1 +24V 1 11 PG0V6
B1 CN1-4 P CN1-4 0V -3 0V 3 12 PG5V6
13
B4 CN1-10 CN1-10 +24V -2 +24V 2 14
B3 CN1-9 P CN1-9 0V -4 0V 4 15
16 No.8CN
A1 CN1-1 CN1-1 SPG+1 CN-1 DATA+1
A2 CN1-2 P CN1-2 SPG-1 No.2CN S P -2 DATA-1
-1 BAT1 -3 BAT1
-2
-3
0BAT1
PG5V1
P -4
CN-1
OBT1
+5V1
PG S-AXIS
-4 PG0V1 P -2 0V1
A3 CN1-3 CN1-3 FG1 -3 FG1
No.9CN OBT
BAT
No.10CN
CN1-6 CN1-6 SPG+2 CN-1 DATA+2
CN1-7 P CN1-7 SPG-2 No.3CN L P -2 DATA-2
-1 BAT2 R -3 BAT2
-2
-3
0BAT2
PG5V2
P B -4
CN-1
OBT2
+5V2
PG L-AXIS
CN1-8 CN1-8 FG2
-4 PG0V2 P -2 0V2
S-IRV,0.3XK -3 FG2
No.11CN OBT
BAT
No.12CN
C1 CN2-1 CN2-1 SPG+3 CN-1 DATA+3
C2 CN2-2 P CN2-2 SPG-3 No.4CN U P -2 DATA-3
-1 BAT3 -3 BAT3
-2
-3
0BAT3
PG5V3
-4
CN-1
OBT3
+5V3
PG U-AXIS
-4 PG0V3 P -2 0V3
C3 CN2-3 CN2-3 FG3 -3 FG3
No.13CN OBT
D5 CN2-4 CN2-4 SPG+7 BAT
D6 CN2-5 P CN2-5 SPG-7
U
P V FOR LAMP(OPTION)
B6 CN2-9 CN2-9 FG7
No.14CN
C4 CN2-6 CN2-6 SPG+4 CN-1 DATA+4
C5 CN2-7 P CN2-7 SPG-4 No.5CN R P -2 DATA-4
-1 BAT4 -3 BAT4
-2
-3
0BAT4
PG5V4
P -4
CN-1
OBT4
+5V4
PG R-AXIS
-4 PG0V4 P -2 0V4
C6 CN2-8 CN2-8 FG4 -3 FG4
No.15CN OBT
1BC(10X4)
1BC(10X4)
BAT
F1 CN2-10 CN2-10 A
No.16CN
E1 CN3-1 CN3-1 SPG+5 CN-1 DATA+5
E2 CN3-2 P CN3-2 SPG-5 No.6CN B P -2 DATA-5
-1 BAT5 R -3 BAT5
FG5
-2
-3
0BAT5
PG5V5
P B -4
CN-1
OBT5
+5V5
PG B-AXIS
E3 CN3-3 CN3-3
-4 PG0V5 P -2 0V5
S-IRV,0.3XK -3 FG5
No.17CN OBT
BAT
S-IRV,0.3XK-R
No.18CN
E4 CN3-6 CN3-6 SPG+6 CN-1 DATA+6
E5 CN3-7 P CN3-7 SPG-6 No.7CN T P -2 DATA-6
-1 BAT6 -3 BAT6
-2
-3
0BAT6
PG5V6
-4
CN-1
OBT6
+5V6
PG T-AXIS
-4 PG0V6 P -2 0V6
E6 CN3-8 CN3-8 FG6 -3 FG6
No.19CN OBT
BAT
D3 CN4-1 CN4-1 +24V
D4 CN4-6 P CN4-6 A
B5 CN4-2 CN4-2 SS2

D1 CN4-7 P CN4-7 AL1
F6 CN4-3 CN4-3 BC2

D2 CN4-8 P CN4-8 AL2
G1 CN3-4 CN3-4 0V
G2 CN3-5 P CN3-5 +5V
G3 CN3-9 CN3-9 0V
F3 CN3-10 P CN3-10 +5V
G4 CN4-4 CN4-4 B
G5 CN4-5 P CN4-5 B
G6 CN4-9 CN4-9 FG8
F2 CN4-10 CN4-100V
E E
E
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Fig. 8-2(b): Internal Connection Diagram for DX200 / FS100
E E E E E
Base
3BC No.32CN No.34CN 3BC
1 E 3BC-1 1 3BC-1 1 1
3BC-1 2 -2 2 P -2 2 2 3BC-1
-2 3 -3 3 -3 3 3
-2
-3 4 -4 4 P -4 4 4
-3
-4 5 -5 5 -5 5 5
-4
-5 6 -6 6 P -6 6 6
-5 FOR SPARE(X)
-6 7 -7 7 -7 7 7
-6
-7 8 -8 8 P -8 8 8
-7
-8 9 -9 9 -9 9 9
-8
-9 10 -10 10 P -10 10 10
-9
-10 -10
4BC No.33CN No.35CN 4BC
4BC-1 1 4BC-1 1 4BC-1 1 1
2 -2 2 P -2 2 2 4BC-1
-2 3 -3 3 -3 3 3
-2 FOR SPARE(Y)
-3 4 -4 4 P -4 4 4
-3
-4 5 -5 5 -5 5 5
-4
-5 6 -6 6 P -6 6 6
-5
-6 -6
2BC(6X6)
E
E E
A5 CN1-1 CN1-1 ME1
H6 CN1-2 CN1-2 ME2
G6 CN1-3 CN1-3 ME2
A2 CN1-4 CN1-4 MU1 No.20CN CN-1 MU1
A3 CN1-5 CN1-5 MV1 -2 MV1
CN1-6 MW1 -3 MW1 SM S-AXIS
A4 CN1-6
-4 ME1
CN-1 BA1
-2 BB1 YB
No.21CN
B6 CN2-1 CN2-1 MU2 No.22CN CN-1 MU2

D6 CN2-2 CN2-2 MV2 -2 MV2
CN2-3 MW2 -3 MW2 SM L-AXIS
F6 CN2-3
A6 CN2-4 CN2-4 MU2 -4 ME2
C6 CN2-5 CN2-5 MV2 CN-1 BA2
E6 CN2-6 CN2-6 MW2 -2 BB2 YB
No.23CN
MU3
2BC(6X6)
CN3-1 No.24CN CN-1 MU3

2BC(6X6)
H5 CN3-1
H4 CN3-2 CN3-2 MV3 -2 MV3
SM U-AXIS
H3 CN3-3 CN3-3 MW3 -3 MW3
H1 CN3-4 CN3-4 MU4 -4 ME3
G1 CN3-5 CN3-5 MV4 CN-1 BA3
F1 CN3-6 CN3-6 MW4 -2 BB3 YB
No.25CN
D1 CN4-1 CN4-1 MU5
C1 CN4-2 CN4-2 MV5 No.26CN CN-1 MU4
B1 CN4-3 CN4-3 MW5 -2 MV4
-3 MW4 SM R-AXIS
C2 CN4-4 CN4-4 MU6
C3 CN4-5 CN4-5 MV6 -4 ME4
C4 CN4-6 CN4-6 MW6 CN-1 BA4
-2 BB4 YB
No.27CN
H2 CN5-1 CN5-1 ME3

E1 CN5-2 CN5-2 ME4 No.28CN CN-1 MU5
A1 CN5-3 CN5-3 ME5 -2 MV5
-3 MW5 SM B-AXIS
C5 CN5-4 CN5-4 ME6
D5 CN5-5 CN5-5 BA1 -4 ME5
D4 CN5-6 CN5-6 BB1 CN-1 BA5
-2 BB5 YB
No.29CN
D3 CN6-1 CN6-1 BA2
E5 CN6-2 CN6-2 BA3 No.30CN CN-1 MU6
E3 CN6-3 CN6-3 BA4 -2 MV6
-3 MW6 SM T-AXIS
E2 CN6-4 CN6-4 BB4
F5 CN6-5 CN6-5 BA5 -4 ME6
F3 CN6-6 CN6-6 BA6 CN-1 BA6
-2 BB6 YB
No.31CN
PE PE
POWER CABLE INTERNAL CABLE IN S-AXIS INTERNAL CABLE IN L-AXIS INTERNAL CABLE IN BT-AXIS
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9 Maintenance and Inspection
9.1 Inspection Schedule
DANGER
• Maintenance and inspection must be performed by specified
personnel.
Failure to observe this caution may result in electric shock or injury.
• For disassembly or repair, contact your YASKAWA representative.
• Do not remove the motor, and do not release the brake.
Failure to observe these safety precautions may result in death or
serious injury from unexpected turning of the manipulator's arm.
WARNING
• Before maintenance or inspection, be sure to turn the main power
supply OFF, and put up a warning sign. (ex. DO NOT TURN THE
POWER ON.)
Failure to observe this warning may result in electric shock or injury.
CAUTION
• The battery pack must be connected before removing detection
connector when maintenance and inspection.
Failure to observe this caution may result in the loss of home position
data.
9.1 Inspection Schedule

Proper inspections are essential not only to assure that the mechanism
will be able to function for a long period, but also to prevent malfunctions
and assure safe operation. Inspection intervals are classified into six
levels as shown in table 9-1 “Inspection Items” .
In table 9-1, the inspection items are categorized by types of operations:
operations which can be performed by personnel authorized by the user,
operations to be performed by trained personnel, and operations to be
performed by service company personnel. Only specified personnel shall
perform the inspection work.
• The inspection interval must be based on the servo power

supply on time.
• The following inspection schedule is based on the case
where the manipulator is used for arc welding applica-
NOTE tion. If the manipulator is used for other application or if it
is used under special conditions, a case-by-case exam-
ination 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.
9-1 HW1482710 41/68

Table 9-1: Inspection Items (Sheet 1 of 2)
Items1) Schedule Method Operation Inspection
Charge
Daily
1000HCycle
6000HCycle
12000HCycle
24000H
36000H
Specified
Personnel
Licensee
Service
Company
1 Alignment mark Visual Check tram mark accordance and damage at the home position.
9
• • • •
9.1
2 Working area and • Visual Clean the work area if dust or spatter is present. Check for • • •
manipulator damage and outside cracks.
3 Baseplate mounting bolts • Spanner Tighten loose bolts. • • •
Wrench Replace if necessary.
4 Cover mounting screws • Screwdriver, Tighten loose bolts. Replace if necessary. • • •
Wrench
5 Connector base • Manual Check for loose connectors. • • •
9-2
6 Wire harness in manipulator • Visual Multimeter Check for conduction between the main connecter of base and • •
Inspection Schedule
intermediate connector with manually shaking the wire. Check for

wear of protective spring2)
• Replace3) •
Maintenance and Inspection
7 Battery pack in manipulator • Replace the battery pack when the battery alarm occurs or the • •
manipulator drove for 36000H.
8 S-axis speed reducer • Grease Gun Check for malfunction. (Replace if necessary.) • •
S-axis gear Supply grease4) (6000H cycle).
See chapter 9.3.1
9 LU-axes speed reducers • Grease Gun Check for malfunction. (Replace if necessary.) • •
Supply grease4) (6000H cycle).
See chapter 9.3.3 and chapter 9.3.4 .
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Table 9-1: Inspection Items (Sheet 2 of 2)
Items1) Schedule Method Operation Inspection
Charge
HW1482710
Daily
1000HCycle
6000HCycle
12000HCycle
24000H
36000H
Specified
Personnel
Licensee
Service
Company
10 R-axis speed reducer • Grease Gun Check for malfunction. (Replace if necessary.) • •
Supply grease4) (6000H cycle).
9
See chapter 9.3.5

9.1
11 BT-axes speed reducers • Grease Gun Check for malfunction. (Replace if necessary.) • •
T-axis gear Supply grease4) (6000H cycle).
See chapter 9.3.6
12 Overhaul • •
1 Inspection No. correspond to the numbers in fig. 9-1 “Inspection Items” .
2 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 chapter 9.3.6 “Grease Replenishment for B- and T-Axes Speed
9-3
Reducers” )
Inspection Schedule
3 Wire harness in manipulator (S-, L-, U-, R-, B-, T-axis part) to be replaced at 24000H inspection.
4 For the grease, refer to table 9-2 “Inspection Parts and Grease Used” .
Table 9-2: Inspection Parts and Grease Used

No. Grease Used Inspected Parts
8,9,10, Harmonic Grease SK-1A S, L, U, R, B and T-axes speed
11 reducers,
T- and S-axes gears
The numbers in the above table correspond to the numbers in table 9-1 “Inspection Items” .
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Fig. 9-1: Inspection Items
R-axis B-axis
1 11 11
Note:
This figure shows the standard specification
manipulator in the home position. T-axis
9
3
9.1
10 R-axis
U-axis 1
T-axis
1
U-axis
9
1 B-axis
9-4
Inspection Schedule
L-axis S-axis
1 9
1 5
3BC 4BC
AIR1
AIR2
8 S-axis
2BC
1BC
6
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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 DX200 / FS100, replace the battery in
accordance with the following procedure:
Fig. 9-2: Battery Location
3BC 4BC
AIR1
AIR2
2BC
1BC
Plate fastening screw Battery pack holder

Plate fastening screw
Connector base
Battery pack
Plate
Fig. 9-3: Battery Connection

See replacing step 5 Battery pack before replacement
Connector
Circuit board
(Type: SGDR-EFBA02A) See replacing step 4
New battery pack
1. Turn OFF the DX200 / FS100 main power supply.

2. Remove the plate fastening screws and the plate on the connector
base, then pull the battery pack put 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 notes may result in damage to
motor and speed reducer.
• If grease is added without removing the plug/screw from

the grease exhaust port, the grease will leak inside a
motor or an oil seal of a speed reducer will come off, which
may result in damage to the motor. Make sure to remove
the plug/screw.
• Do not install a joint, a hose, etc. to the grease exhaust
port. Failure to observe this instruction may result in dam-
NOTE
age to the motor due to coming off of an oil seal.
• Make sure to use a grease pump to inject grease. Set air
supply pressure to the grease pump at 0.3 MPa or less,
and the grease injection rate at 8 g/s or less.
• Make sure to fill hoses, which are joined to the grease
inlet, with grease beforehand to prevent air from intruding
into the speed reducer.
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9.3.1 Grease Replenishment for S-Axis Speed Reducer

Fig. 9-4: S-Axis Speed Reducer Diagram
Exhaust port
(hexagon socket head plug PT 1/8)
Grease inlet
(hexagonsocket cap screw M6)
S-axis speed reducer
3BC 4BC
AIR1
AIR2
2BC
1BC
S-axis motor
9.3.1.1 Grease Replenishment

(Refer to fig. 9-4 “S-Axis Speed Reducer Diagram” .)
Replenish the grease in accordance with the following procedure:
1. Remove the hexagon socket head cap screw M6 from the grease inlet
and the hexagon socket head plug PT1/8 from the exhaust port.
• If grease is injected with the plug on, the grease will leak
inside the motor and may cause a damage. Make sure to
remove the plug before the grease injection.
NOTE
2. Install the grease zerk PT1/8 to the grease inlet. (The grease zerk is
packed with the manipulator on the shipment.)
3. Inject the grease into the grease inlet using a grease gun.
– Grease type: Harmonic Grease SK-1A
– Amount of grease: 25cc
The exhaust port is used for air exhaust, and the grease is
NOTE not exhausted from the exhaust port. Do not inject exces-
sive grease through the grease inlet.
4. Move the S-axis for a few minutes to discharge excess grease.

5. Wipe the discharged grease with a cloth. Remove the grease zerk
from the grease inlet and reinstall the screw M6, and the plug PT1/8 to
the exhaust port.
Apply Three Bond 1206C on the thread part of the screw/plug.
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9.3.2 Grease Replenishment for S-Axis Gear
Fig. 9-5: S-Axis Gear Diagram
Grease inlet
(hexagon socket
head plug PT 1/8) Exhaust port
(hexagon socket
S-axis motor head plug PT 1/8)
3BC 4BC
AIR1
AIR2
2BC
1BC
S-axis motor

(Refer to fig. 9-5 “S-Axis Gear Diagram” .)
Replenish the grease in accordance with the following procedure:
1. Remove the hexagon socket head plug PT1/8 from the grease inlet
and from the exhaust port.
NOTE
2. Install the grease zerk PT1/8 to the grease inlet.

(The grease zerk is packed with the manipulator on the shipment.)
3. Inject the grease into the grease inlet using a grease gun.
4. Move the S-axis for a few minutes to discharge excess grease.

from the grease inlet and reinstall the plug PT1/8 to the grease inlet
and to the exhaust port.
Apply Three Bond 1206C on the thread part of the plug.
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9.3.3 Grease Replenishment for L-Axis Speed Reducer

Fig. 9-6: L-Axis Speed Reducer Diagram
L-axis motor
Exhaust port
(Plug M5)
L-axis speed reducer
Grease inlet
(Hexagon socket
head cap screw M6)

(Refer to fig. 9-6 “L-Axis Speed Reducer Diagram” .)
1. Remove the cover to unscrew the hexagon socket head cap screw M6
from the grease inlet and the plug M5 from the exhaust port.
NOTE
2. Install the grease zerk A-MT6 x 1 to the grease inlet.

3. Inject grease into the grease inlet using a grease gun.
from the grease inlet and reinstall the screw M6, and the plug M5 to
the exhaust port before reinstalling the cover.
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9.3.4 Grease Replenishment for U-Axis Speed Reducer

Fig. 9-7: U-Axis Speed Reducer Diagram
Exhaust port
Grease inlet (Plug M5)
(Hexagon socket
head cap screw M6)
U-axis speed reducer
Cover
U-axis motor

(Refer to "fig. 9-7 “U-Axis Speed Reducer Diagram” .)
1. Remove the cover to unscrew hexagon socket head cap screw M6
from the grease inlet and the plug M5 from the exhaust port.
NOTE
Do not install a joint, a hose, etc. to the grease exhaust port.
Failure to observe this instruction may result in damage to
the motor due to coming off of an oil seal.
2. Install the grease zerk A-MT6 x 1 to the grease inlet.

the exhaust port before reinstalling the cover.
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9.3.5 Grease Replenishment for R-Axis Speed Reducer

Fig. 9-8: R-Axis Speed Reducer Diagram
Exhaust port
(Hexagon socket
head cap screw M6)
Exhaust port
R-axis speed reducer (Hexagon socket
head cap screw M6)
R-axis motor Grease inlet

(Plug M5)

(Refer to fig. 9-8 “R-Axis Speed Reducer Diagram” .)
1. unscrew the plug M5 from exhaust port.
NOTE

from the grease inlet and reinstall the plug to the exhaust port.
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9.3.6 Grease Replenishment for B- and T-Axes Speed Reducers

Fig. 9-9: B- and T-Axes Speed Reducers Diagram
B-axis speed reducer

Exhaust port (B-axis speed reducer)
Plug M5
Exhaust port (T-axis gear) Grease inlet (T-axis speed reducer)
Plug M5 Low head socket head cap screw M6
T-axis speed reducer Grease inlet (B-axis speed reducer)
Low head socket head cap screw M6
Grease inlet (T-axis gear)
Exhaust port Low head socket head cap screw M6
(T-axis speed reducer)
Plug M5
9.3.6.1 Grease Replenishment for B-axis

(Refer to "fig. 9-9 “B- and T-Axes Speed Reducers Diagram” .)
1. unscrew the plug M5 from the exhaust port.
NOTE

3. Wipe the discharged grease with a cloth. Reinstall the plug to the
exhaust port.
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9.3.6.2 Grease Replenishment for T-axis

(Refer to fig. 9-9 “B- and T-Axes Speed Reducers Diagram” .)
1. Remove the plug M5 from the exhaust port and the low head socket
head cap screw M6 from the grease inlet.
NOTE
2. Install the grease zerk A-MT6 x 1 to the grease inlet. (The grease zerk
is packed with the manipulator on the shipment.)
the exhaust port.
Apply Three Bond 1206C on the thread parts of the plug/screw.
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9.4 Notes for Maintenance
9.4 Notes for Maintenance
9.4.1 Wrist Unit

The motor and encoder units are provided with the wrist unit. To prevent
fumes from penetrating into the wrist unit, the jointed faces are sealed with
sealing bond. If the wrist cover is disassembled, make sure to reseal with
sealing bond (Three Bond 1206C, refer to table 10-1 “Spare Parts for the
YR-MH0005S-J00,-K00,-J01” .
Fig. 9-10: Sealing Part of Wrist Unit
Cover jointing face

Cover
Cover
Cover jointing face
9.4.2 Battery Pack Connector (with CAUTION label)

Before removing the encoder connector (with CAUTION label), connect
the battery pack referring to the following figures.
Fig. 9-11: Encoder Connector Diagram (with CAUTION label)
Encoder
Motor
Motor cable, etc.
Internal wire Power connector
b OBT4
OBT a a BAT4
BAT b
Encoder connector Battery pack
CAUTION label
0BT a b 0BT4
BAT b a BAT4
CAUTION label (Enlarged view)
a: Crimped contact-pin (socket)
CAUTION b: Crimped contact-pin (pin)
Connect battery to encoder

to save the data before
removing connector.
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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-MH5S II. Product performance
cannot be guaranteed when using spare parts from any company other
than YASKAWA. The spare parts are ranked as follows:
• Rank A: Expendable and frequently replaced parts

• Rank B: Parts for which replacement may be necessary as a result of
frequent operation
• Rank C: Drive unit
NOTE For replacing parts in rank B or rank C, contact your

YASKAWA representative.
Table 10-1: Spare Parts for the YR-MH0005S-J00,-K00,-J01 (Sheet 1 of 2)

Rank Parts Name Type Manufacturer Qty Qty Remarks
No. per
Unit
A 1 Grease Harmonic Grease Harmonic Drive 2.5 kg -
SK-1A Systems Co., Ltd.
A 2 Liquid Gasket Three Bond 1206C Three Bond Co., - -
Ltd.
A 3 Battery Pack HW0470360-A YASKAWA Electric 1 1
Corporation
A 4 Battery Pack HW9470932-A YASKAWA Electric 1 1
Corporation
B 5 L-Axis Timing Belt 100S5M305 Mitsuboshi 1 1
Belting Ltd.
B 6 U-Axis Timing Belt 100S5M390 Mitsuboshi 1 1
Belting Ltd.
B 7 R-Axis Timing Belt 060S3M219 Mitsuboshi 1 1
Belting Ltd.
B 8 BT-Axis Timing Belt 060S3M396 Mitsuboshi 1 2
Belting Ltd.
B 9 S-Axis Y005C-MH0005SJ00S YASKAWA Electric 1 1
Speed Reducers Kit Corporation
B 10 L-Axis Y005C-MH0005SJ00L YASKAWA Electric 1 1
B 11 U-Axis Y005C-MH0005SJ00U YASKAWA Electric 1 1
B 12 R-Axis Y005C-MH0005SJ00R YASKAWA Electric 1 1
B 13 B-Axis Y005C-MH0005SJ00B YASKAWA Electric 1 1
B 14 T-Axis Y005C-MH0005SJ00T YASKAWA Electric 1 1
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Table 10-1: Spare Parts for the YR-MH0005S-J00,-K00,-J01 (Sheet 2 of 2)

Rank Parts Name Type Manufacturer Qty Qty Remarks
No. per
Unit
B 15 Wire Harness in HW0175096-A YASKAWA Electric 1 1 -J00, -K00
Manipulator Corporation
HW0175096-B YASKAWA Electric 1 1 -J01
Corporation
C 16 S-and L-Axes HW0388651-A YASKAWA Electric 1 2
AC Servomotor SGMAV-04ANA-YR1* Corporation
C 17 U-Axis HW038650-A YASKAWA Electric 1 1
AC Servomotor SGMAV-02ANA-YR1* Corporation
C 18 R-Axis HW0388708-1 YASKAWA Electric 1 1
AC Servomotor SGMAV-A5ANA-YR1* Corporation
C 19 R- B-, and T-Axes HW0388794-A YASKAWA Electric 1 2
AC Servomotor SGMAV-A5ANA-YR2* Corporation
C 20 B-and T-Axes Brake HW1470525 YASKAWA Electric 1 2
Corporation
C 21 Board SGDR-EFBA02A YASKAWA Electric 1 1
Corporation
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11 Parts List
11.1 S-Axis Unit
11 Parts List
11.1 S-Axis Unit

Fig. 11-1: S-Axis Unit
1027
1026
1020
1023
1023
1003
1001
1020
1049
1048
1013 1023
1040 1002
1005
1039
1015 1025
1028 1024
1029
1034 1011
1012 1017
1033
1009
1006 1010 1016
1041 1018
1007 1047 1014

1032
1031
1043 1030
1019
1022 1038
1032
1036 1037
1008 1035
1045 1021
1004
1023
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11 Parts List
11.1 S-Axis Unit
Table 11-1: S-Axis Unit

No. DWG No. Name Pcs
1001 HW0102487-1 Base 1
1002 HW0102486-1 S head 1
1003 HW0314329-1 Cover 1
1004 HW0314328-1 Cover 1
1005 HW0414024-1 Collar 1
1006 HW0414025-1 B holder 1
1007 HW0414034-1 M base 1
1008 HW0314319-1 Shaft 1
1009 HW0412383-1 Packing 1
1010 HW0414064-1 M base 1
1011 HW0314707-1 Gear 1
1012 HW0314708-2 Gear 1
1013 HW8411125-2 Washer 16
1014 HW0389176-A Speed reducer 1
1015 6811LLU Bearing 1
1016 6810VV Bearing 1
1017 TC405208 Oil seal 1
1018 TC25X35X6FKM Oil seal 1
1019 S39 O ring 1
1020 PT1/8 Plug 3
1021 HW9482404-A Sheet 1
1022 POC6-01M Union 1
1023 M4X10 Button bolt 22
1024 M8X16 Socket screw 1
1025 2L-8 Spring washer 1
1032 M4 Washer 4
1034 CDW-L3 Spring washer 6
1041 M4X10 GT-SA bolt 4
1047 SGMAV-04ANA-YR11 Motor 1
1048 HW0414483-1 Cover 1
1049 HW0414484-1 Packing 1
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11 Parts List
11.2 L-, U-Axes Unit

Fig. 11-2: L-, U-Axes Unit
2023
2018
2014
2036 2030
2035 2053 2028
2014
2013
2016
2023
2017 2057
2055 2026
2001
2014
2034
2033
2037
2002 2031
2032
2040
2039 2025
2012
2055
2010 2024 2041 2057
2027 2029
2038
2003
2020 2013
2040
2053
2004
2010
2039
2042 2058
2059
2060
2043 2041
2021 2038 2024
2011
2023
2015 2015
2018
2050
2049
2046 2007 2048
2047 2015
2044 1002
2019
2022
2052
2030 2051
2017
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11 Parts List
Table 11-2: L-, U-Axes Unit (Sheet 1 of 2)

2001 HW0102585-1 L arm 1
2002 HW0414073-A Pulley 1
2003 HW0414072-A Pulley 1
2004 HW0414070-B Pulley 1
2007 HW0414071-B Pulley 1
2010 HW8411125-1 Collar 2
2011 HW0408927-2 Housing 1
2012 HW0408928-2 Housing 1
2013 HW0408931-1 Housing 2
2014 HW0388707-B Speed reducer 1
2015 HW0388706-B Speed reducer 1
2016 6913DDU Bearing 1
2017 6000ZZ Bearing 4
2019 6916DDU Bearing 1
2020 100S5M305 Belt 1
2021 100S5M390 Belt 1
2022 SC901107 Oil seal 1
2023 SC751007 Oil seal 3
2024 LP-M5 Plug 2
2025 SGMAV-04ANA-YR11 Motor 1
2026 SGMAV-02A2A-YR11 Motor 1
2027 HW0200555-1 Cover 1
2028 HW0200555-2 Cover 1
2029 HW0414027-1 M base 1
2041 M4 Washer 4
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11 Parts List
Table 11-2: L-, U-Axes Unit (Sheet 2 of 2)

2050 CDW4L Spring washer 29
2057 M4 Washer 8
2060 HW0414027-2 M base 1
1002 HW0102486-1 S head 1
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11 Parts List
11.3 R-Axis Unit
11.3 R-Axis Unit

Fig. 11-3: R-Axis Unit
3013
3029
3016
3019
3004 3012
3010
3005 3001
3006
3028
3014
3002
3018 3011 3003
3027 3030
3008
3007
3025
3026
3024
3023 3021
3022
3009
2001
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11 Parts List
11.3 R-Axis Unit
Table 11-3: R-Axis Unit

3001 HW0102484-1 Casing 1
3002 HW0314334-1 Housing 1
3003 HW0414074-A Pulley 1
3004 HW0483421-B Pulley 1
3005 HW9406285-E Pipe 1
3006 HW9406278-2 Washer 1
3010 060S3M219 Belt 1
3011 SGMAV-A5ANA-YR11 Motor 1
3012 OB-31 Plug 1
3018 M3 Washer 2
3029 HW1200087-2 Cover 1
3030 LP-M5 Plug 1
2001 HW0102485-1 L arm 1
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11 Parts List
11.4 Wrist Unit
11.4 Wrist Unit

Fig. 11-4: Wrist Unit
4040
4006
3007
4049 4074
4050 4073
4023 4075
4052
4051
4023 4068 4048
4069
4073 4036
4003 4072
4074 4002
4004 4001
4071 4071
4061
4002
4001 4060
4028
4069
4068
4050 4055
4075 4049 4056
4022
4027
4042
4018
4051 4072
4052
4061 4021 4047
4014
4063
4060 4011 4062
4017
4006 4064
4067 4047
4043-46 4065
4030
4016 4066 4070
4040
4015
4037
4005 4013
4020 4047
4032 4057 4076
4077
4029
4039
4054 4031
4053 4007
4008 4029
4034
4035
4038 4024
4033 4009
4025
4019
4026
4058
4059 4012
4041
4010
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11 Parts List
11.4 Wrist Unit
Table 11-4: Wrist Unit (Sheet 1 of 2)

4001 SGMAV-A5ANA-YR23 Motor 2
4002 HW1470525-A Break 2
4003 HW1100164-1 U arm 1 1
4004 HW1300209-3 U arm 2 1
4005 HW1300210-2 Wrist base 1
4006 HW1301269-1 Cover 2
4009 HW0414026-1 Housing 1
4010 HW0414028-1 B nut 1
4011 HW0481908-A Bearing 1
4012 HW1300206-2 Flange 1
4013 HW1300207-1 Housing 1
4014 HW1380198-A Gear 1
4015 HW1380199-A Gear 1
4016 HW1400299-1 Housing 1
4017 HW1400300-1 B holder 1
4018 HW1400301-1 Flange 1
4019 HW1400304-1 Housing 1
4020 HW1400413-1 Housing 1
4021 HW1400570-A Pulley 1
4022 HW1400571-A Pulley 1
4023 HW1400918-1 Cover 2
4024 HW9406260-1 Housing 1
4025 HW9406266-1 B nut 1
4026 HW9480739-B Bearing 1
4027 060S3M396 Belt 1
4028 060S3M396 Belt 1
4029 6803ZZ*NS7* Bearing 2
4030 6808ZZ*NS7* Bearing 1
4031 6810VV*NS7* Bearing 1
4032 686 Bearing 1
4034 IRTW-26 Retaining rings 1
4035 RTW-20 Retaining rings 1
4036 MSTM6-10 Pin 1
4037 S56 O ring 1
4038 TC56665 Oil seal 1
4039 CBSTS6-6 Socket screw 3
4041 AB2551E0 Oil seal 1
4042 TC52647 Oil seal 1
4043 SPS-010005 Shim 1
4044 SP-009010 Shim 1
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11 Parts List
11.4 Wrist Unit
Table 11-4: Wrist Unit (Sheet 2 of 2)

4045 SP-009015 Shim 1
4046 SP-009020 Shim 1
4047 LP-M5 Plug 3
4050 M4 Washer 4
4069 M3 Washer 4
4071 HW1401215-1 M base 2
4072 HW1401268-1 Pulley 2
11-10 HW1482710 67/68

MOTOMAN-MH5S II
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 GmbH (Robotics 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 ＋86-21-5385-3299
YASKAWA SHOUGANG ROBOT Co. Ltd.
No7 Yongchang North Road, Beijing E&T Development Area,China 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
C 2014 YASKAWA ELECTRIC CORPORATION

Published by YASKAWA
February 2019 14-07
MANUAL NO.
HW1482710 4
68/68

Instructions: Motoman-Mh5S Ii

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MOTOMAN-MH5S II

Notes for Safe Operation

Indicates an imminent hazardous

Indicates a potentially hazardous

Indicates a potentially hazardous

Always be sure to follow explicitly the

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

iii HW1482710 3/68

• 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

Definition of Terms Used Often in This Manual (DX200)

Definition of Terms Used Often in This Manual (FS100)

Explanation of Warning Labels

Fig. : Warning Label Locations

Nameplate Warning Label B

Nameplate WARNING Label A:

YASKAWA ELECTRIC CORPORATION

vii HW1482710 7/68

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

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

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

2 Transporting .................................................................................................................................... 2-1

2.1 Transporting Method.......................................................................................................... 2-1

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

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

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

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 Mounting Method ............................................................................................................... 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 .......................................................................................................................... 4-2

4.2 Cable Connection .............................................................................................................. 4-3

4.2.1 Connection to the Manipulator.............................................................................. 4-3

4.2.2 Connection to the DX200/FS100 .......................................................................... 4-3

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

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

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

5.3 Baseplate Dimensions ....................................................................................................... 5-2

5.4 Dimensions and P-Point Maximum Envelope.................................................................... 5-3

5.5.1 Stop Category 0: Emergency Stop ....................................................................... 5-4

viii HW1482710 8/68

5.5.2 Stop Category 1: Emergency Stop ....................................................................... 5-7

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

6.1 Allowable Wrist Load ......................................................................................................... 6-1

6.2 Wrist Flange....................................................................................................................... 6-2

7 System Application ......................................................................................................................... 7-1

7.1 Peripheral Equipment Mounts ........................................................................................... 7-1

7.1.1 Allowable Load ..................................................................................................... 7-1

8 Electrical Equipment Specification.................................................................................................. 8-1