Instructions MH6S-10 PDF

MOTOMAN-MH6S-10
INSTRUCTIONS
TYPE: YR-MH0006S-A30 (SHORT ARM, PAYLOAD: 10 kg)
YR-MH0006S-A31 (SHORT ARM, PAYLOAD: 10 kg, WITH LIMIT
SWITCHES FOR S-, L-, U-AXES)
Upon receipt of the product and prior to initial operation, read these instructions thoroughly, and retain
for future reference.
MOTOMAN INSTRUCTIONS
MOTOMAN-MH6S-10 INSTRUCTIONS
DX100 INSTRUCTIONS
DX100 OPERATOR’S MANUAL
DX100 MAINTENANCE MANUAL
The DX100 Operator’s Manual above corresponds to specific usage.
Be sure to use the appropriate manual.
Part Number: 167430-1CD

Revision: 0
MANUAL NO.
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MH6S-10
MANDATORY
• This instruction manual is intended to explain mainly on the
mechanical part of the MOTOMAN-MH6S-10 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
DX100 instructions. To ensure correct and safe operation, carefully
read the DX100 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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MH6S-10
Notes for Safe Operation

Read this manual carefully before installation, operation, maintenance, or
inspection of the MOTOMAN-MH6S-10.
In this manual, the Notes for Safe Operation are classified as
“WARNING”, “CAUTION”, “MANDATORY”, or “PROHIBITED”.
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 to

NOTE follow all instructions, even if not designated as “CAUTION”
and “WARNING”.
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MH6S-10
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.
Figure 1: Emergency Stop Button
• Once the emergency stop button is released, clear the cell of all
items which could interfere with the operation of the manipulator.
Then turn the servo power ON.
Injury may result from unintentional or unexpected manipulator motion.
Figure 2: Release of Emergency Stop
TURN
• Observe the following precautions when performing teaching

operations within the P-point maximum envelope of the
manipulator:
– 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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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 Instructions before operating the manipulator:
Definition of Terms Used Often in This Manual

The MOTOMAN is the YASKAWA industrial robot product.
The MOTOMAN usually consists of the manipulator, the controller, the
programing pendant, and manipulator 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
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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.
Figure 3: Warning Label Locations
WARNING Label A WARNING Label A
WARNING
Moving parts
may cause
injury
WARNING Label B
Nameplate
WARNING
Do not enter
robot
work area.
Nameplate: WARNING Label A:
WARNING
Moving parts
may cause
injury
WARNING Label B:
WARNING
Do not enter
robot
work area.
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MH6S-10 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...................................................................................................... 2-2
2.2 Shipping Bolts and Brackets.............................................................................................. 2-3
3 Installation....................................................................................................................................... 3-1
3.1 Safeguarding Installation ................................................................................................... 3-1
3.2 Mounting Procedures for Manipulator Base ...................................................................... 3-2
3.2.1 Mounting Example................................................................................................ 3-2
3.3 Ways 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 ..................................................................................... 4-2
5 Basic Specifications ........................................................................................................................ 5-1
5.1 Basic Specifications........................................................................................................... 5-1
5.2 Part Names and Working Axes.......................................................................................... 5-2
5.3 Manipulator Base Dimensions ........................................................................................... 5-2
5.4 Dimensions and P-Point Maximum Envelope.................................................................... 5-3
5.5 Alterable Operating Range ................................................................................................ 5-4
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6 Allowable Load for Wrist Axis and Wrist Flange ............................................................................. 6-1
6.1 Allowable Wrist Load ......................................................................................................... 6-1
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 Lines ................................................................. 7-2
8 Electrical Equipment Specification .................................................................................................. 8-1
8.1 Position 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.................................................................................... 9-5
9.2.1 Battery Pack Replacement ................................................................................... 9-5
9.3 Notes on Grease Replenishment/Exchange Procedures .................................................. 9-7
9.3.1 Grease Replenishment/Exchange for S-Axis Speed Reducer ............................. 9-7

9.3.1.1 Grease Replenishment............................................................................ 9-8
9.3.1.2 Grease Exchange.................................................................................... 9-8
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.............................................................. 9-17
9.3.7 Grease Replenishment for R-Axis Cross Roller Bearing .................................... 9-18
9.3.8 Notes for Maintenance........................................................................................ 9-19

9.3.8.1 Wrist Unit ............................................................................................... 9-19
9.3.8.2 Battery Pack Connection ....................................................................... 9-19
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-Axis Unit ..................................................................................................................... 11-3
11.3 U-Axis Unit..................................................................................................................... 11-5
11.4 R-Axis Unit..................................................................................................................... 11-7
11.5 Wrist Unit ..................................................................................................................... 11-10
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MH6S-10 1 Product Confirmation
1.1 Contents Confirmation
1 Product Confirmation
CAUTION
• Confirm that the manipulator and the DX100 have the same order
number. Special care must be taken when more than one
manipulator is to be installed.
If the numbers do not match, manipulators may not perform as
expected and cause injury or damage.
1.1 Contents Confirmation

Confirm the contents of the delivery when the product arrives.
Standard delivery includes the following four items (information for the
content of optional goods is given separately):
• Manipulator
• DX100
• Programming pendant
• Manipulator cables (between the DX100 and the Manipulator)
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MH6S-10 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. 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 have the
same order number.
ORDER NO.
DX100
TYPE ERDR-
ER
GE N
EM
POWER SUPPLY
Y
3PHASE AC200V 50/60Hz PEAK kVA

AC220V 60Hz AVERAGE kVA
INTERRUPT CURRENT kA
SERIAL No.
DATE
S
MADE IN JAPAN NJ2960-1
T O P
ON
D
PE
IP
TR
OFF
SET
RE
ORDER NO.
NJ1529
PROGRAMMING PENDANT
X81
(a) DX100 (Front View) (b) Manipulator (Top View)
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MH6S-10 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 125 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" on
page 2-2.
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MH6S-10 2 Transport
Fig. 2-1: Transporting Position
View A
Hexagon socket head cap

screw M10 (2 screws)
Eyebolt M10 (2 places)
Shipping bracket
2.1.2 Using a Forklift

When using a forklift, the manipulator should be fixed on a pallet with
shipping bolts as shown in Fig.2-2 "Using a Forklift". Insert claws under
the pallet and lift it. The pallet must be strong enough to support the
manipulator. Transport the manipulator slowly with due caution in order to
avoid overturning or slippage.
Fig. 2-2: Using a Forklift
Bolt M16 (4 places)
Pallet
Forklift claw entries
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MH6S-10 2 Transport
2.2 Shipping Bolts and Brackets
2.2 Shipping Bolts and Brackets

The manipulator is provided with a shipping bracket and screws.
(See Fig. 2-1 "Transporting Position" on page 2-2.)
• The shipping bracket is painted yellow.
• The shipping bracket is to be fixed with the hexagon socket head cap
screw M12 (2 screws).
Before turning ON the power, check to be sure that the

NOTE shipping bolts and brackets are removed. The shipping
bolts and brackets then must be stored for future use, in the
event that the manipulator must be moved again.
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MH6S-10 3 Installation
3.1 Safeguarding 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 the manipulator that is damaged or lacks
parts.
Failure to observe this caution may cause injury or damage.
• Before turning ON the power, check to be sure that the shipping
bolts and brackets explained in Fig. 2-1 "Transporting Position" on
page 2-2 are removed.
Failure to observe this caution may result in damage to the driving
parts.
3.1 Safeguarding Installation

To insure safety, be sure to install safeguarding. It prevents unforeseen
accidents with personnel and damage to equipment. Refer to the quoted
clause for your information and guidance:
Responsibility for Safeguarding (ISO10218)
The user of a manipulator or robot system shall ensure that safeguards
are provided and used in accordance with Sections 6, 7, and 8 of this
standard. The means and degree of safeguarding, including any
redundancies, shall correspond directly to the type and level of hazard
presented by the robot system consistent with the robot application.
Safeguarding may include but not be limited to safeguarding devices,
barriers, interlock barriers, perimeter guarding, awareness barriers, and
awareness signals.
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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” on page 3-2.
Table 3-1: Maximum Repulsion Forces of the Manipulator at Emergency Stop

Maximum torque in horizontal rotation 4116 N•m
(S-axis moving direction) (420 kgf•m)
Maximum torque in vertical rotation 5782 N•m
(L-, U-axes moving direction) (590 kgf•m)
Table 3-2: Endurance Torque in Operation

Endurance torque in horizontal operation 1029 N•m
(S-axis moving direction) (105 kgf•m)
Endurance torque in vertical operation 1441 N•m
(L-, U-axes moving direction) (147 kgf•m)
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 recommended to prepare a
baseplate of 40 mm or more thickness, and anchor bolts of M16 or larger
size.
Next, fix the manipulator base to the baseplate. 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). 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 on Baseplate" on page 3-3.
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Fig. 3-1: Mounting the Manipulator on Baseplate
Bolt M16 (4 bolts)
Spring washer
Washer
20
or more
40 mm
Baseplate
Manipulator base
Manipulator base
Anchor bolt (M16 or larger)
Baseplate
300
260
132 ±0.1 Baseplate
A
240
Tapped hole 18 dia. 16 dia.+0.0180

(4 holes) (2 holes)
153 ±0.1
102 ±0.1
60
260
300
292
60
132 ±0.1
130± 0.1
+0.018
12 dia. 0 102 ±0.1 Unit: mm
100 ±0.1 153 ±0.1
View A
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3.3 Ways of Mounting
3.3 Ways of Mounting

The MOTOMAN-MH6S-10 is available in three ways: floor-mounted
(standard), wall-mounted, and ceiling-mounted. For wall-mounted and
ceiling-mounted ways, the three points listed below are different from the
floor-mounted way.
• S-axis Operating Range
• Fixing the Manipulator Base
• Precautions to Prevent the Manipulator from Falling
3.3.1 S-axis Operating Range

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

For wall- and ceiling-mounted ways, be sure to use 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 ways, 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 for fall prevention
Manipulator base Hexagon socket head cap

screw M16 (4 screws)
(Tensile strength: 1200 N/mm2 or more)
In case of using the wall- or ceiling-mounted way, 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 or 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, and water
• Free from corrosive gas or liquid, or explosive gas or liquid
• Free from excessive vibration
(Vibration acceleration: 4.9 m/s2 [0.5 G] or less)
• Free from large electrical noise (plasma)
• Flatness for installation: 0.5 mm or less
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MH6S-10 4 Wiring
4.1 Grounding
4 Wiring
WARNING
• Ground resistance must be 100  or less.
Failure to observe this warning may result in fire or electric shock.
• Before wiring, make sure to turn the primary power supply off, and
put up a warning sign. (ex. DO NOT TURN THE POWER ON.)
Failure to observe this warning may result in fire or electric shock.
CAUTION
• Wiring must be performed by authorized or certified personnel.
Failure to observe this caution may result in fire or electric shock.
4.1 Grounding
Follow electrical installation standards and wiring regulations for
grounding. A ground wire of 5.5 mm2 or more is recommended.
Refer to Fig. 4-1 "Grounding Method" on page 4-2 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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MH6S-10 4 Wiring
4.2 Cable Connection
Fig. 4-1: Grounding Method
A A
Bolt M8 (for grounding) Section A-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 "Manipulator
Cables" on page 4-3.)
Connect these cables to the manipulator base connectors and to the
DX100. Refer to Fig. 4-3(a) "Manipulator Cable Connectors (Manipulator
Side)" on page 4-4 and Fig. 4-3(b) "Manipulator Cable Connection (DX100
Side)" on page 4-4 “.
4.2.1 Connection to the Manipulator

Before connecting two 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

Before connecting cables to the DX100, verify the numbers on both
manipulator cables and the connectors on the DX100. When connecting,
insert the cables in the order of X21, then X11, and depress each lever
until it clicks.
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MH6S-10 4 Wiring
Fig. 4-2: Manipulator Cables
DX100 side Manipulator side
1BC
X11
X11 1BC
1BC
Encoder cable
DX100 side Manipulator side
2BC
X21
2BC
X21
2BC
Power cable
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MH6S-10 4 Wiring
Fig. 4-3(a): Manipulator Cable Connectors (Manipulator Side)
2BC
1BC
3BC
Connector Details
(Manipulator Side)
2BC
1BC
3BC
Fig. 4-3(b): Manipulator Cable Connection (DX100 Side)
X11
X21
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MH6S-10 5 Basic Specifications
5.1 Basic Specifications
5 Basic Specifications
5.1 Basic Specifications
Table 5-1: Basic Specifications1)

Item Model MOTOMAN-MH6S-10
Structure Vertically Articulated
Degree of Freedom 6
Payload 10 kg
2)
Repeatability ±0.08 mm
Range of Motion S-Axis (turning) -170+170
L-Axis (lower arm) -80+133
U-Axis (upper arm) -130+165
R-axis (wrist roll) -180+180
B-Axis (wrist pitch/yaw) -45+225
T-Axis (wrist twist) -360+360
Maximum Speed S-Axis 3.49 rad/s, 200/s
L-Axis 3.49 rad/s, 200/s
U-Axis 3.49 rad/s, 200/s
R-Axis 4.71 rad/s, 270/s
B-Axis 4.71 rad/s, 270/s
T-Axis 6.98 rad/s, 400/s
Allowable Moment 3) R-Axis 12.2 N•m (1.25 kgf•m)
B-Axis 14.2 N•m (1.45 kgf•m)
T-Axis 7.3 N•m (0.75 kgf•m)
2/4)
Allowable Inertia (GD R-Axis 0.24 kg•m2
B-Axis 0.21 kg•m2
T-Axis 0.06 kg•m2
Approx. Mass 120 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, oil, and water
Free from excessive electrical noise (plasma)
Power Requirements 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” on page 6-1 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-arm
U-axis
R-axis
B-axis
Wrist
Wrist flange
L-axis L-arm
T-axis
S-head
Manipulator base
S-axis
5.3 Manipulator Base Dimensions

Fig. 5-2: Manipulator Base Dimensions
300
260
240 132 ±0.1 16 dia.+0.0180
(2 holes)
153 ±0.1
18 dia. (4 holes)
102 ±0.1
60
300
260
292
60
20
130 ±0.1
132 ±0.1
12 dia. +0.018
0
102 ±0.1
100 ±0.1 153 ±0.1
A
Units: mm
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
170°
53 R997
R4
170° 136
R285
View A
A
997
692
453
317
370
0
150 520
1297 141
P-point
20°
155
80°
199
95
°
305
658
80
13
65°
3
1
°
450
°
130
450
488
197
0 197 172
0
128 369
256
300
Units: mm P-point maximum
envelope
373
158
0
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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 -170+170(standard)
Range -150+150
-135+135
-120+120
-105+105
-90+90
-75+75°
-60+60°
-45+45°
-30+30°
-15+15°
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MH6S-10 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 10 kg maximum. If force is applied to the wrist
instead of the load, force on 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 12.2 (1.25) 0.24
B-Axis 14.2 (1.45) 0.21
T-Axis 7.3 (0.75) 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
150
Load gravity
100
position
LT (mm)
100
LT
W=6kg
R-, T-axes rotation 25

center line
W=10kg
B-axis rotation
145 167
center line
0 100 150 200
L B (mm)
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Fig. 6-2: The Diagram Moment/Inertia for R-axis
15
12.2
Moment (Nm)
10
0 0.24 0.483
0 0.2 0.4 0.6
GD2/4 (kgm2)
Fig. 6-3: The Diagram Moment/Inertia for B-axis
15
14.2
Moment (Nm)
10
0 0.21 0.37
0 0.1 0.2 0.3 0.4
GD2/4 (kgm2)
Fig. 6-4: The Diagram Moment/Inertia for T-axis
7.3
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". It is
recommended that the attachment be mounted inside the fitting in order to
identify the alignment marks. Fitting depth of inside and outside fittings
must be 5 mm or less.
Fig. 6-5: Wrist Flange
Tapped holes M6 (depth:9 mm)

(pitch:1.0) (4 holes)
45°
P.C
. D4
0
+0.012
6 dia. 0
6 (depth: 6 mm)
Units: mm
+0.021
50 dia. -0.039
0
25 dia. 0
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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MH6S-10 7 System Application
7.1 Peripheral Equipment Mounts
7 System Application
7.1 Peripheral Equipment Mounts

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

The maximum allowable load on the U-axis is 15 kg, including the wrist
load. For instance, when the mass installed on the wrist point is 6 kg, the
mass which can be installed on the upper arm is 9 kg.
The maximum allowable load on the S-axis is 20 kg. Install the peripheral
equipment on the S-axis so that the moment of inertia (GD2/4) from the
S-axis rotation center is 1.25 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" on page 7-2 shows the distance between the U-axis
rotation center and the load gravity.
Fig. 7-1: Installing Peripheral Equipment
70 70
View A
Tapped hole M6 (4 holes)

(Depth: 12) (Pitch: 1.0)
70
A
W2
141
Z-direction restriction
Upper arm
Z-direction
350 or less
230
X-direction
90 105
W1 199
U-axis
152.5
rotation center
Rotary head
50
Tapped hole M10 (4 holes)

(Depth: 20) (Pitch: 1.5)
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7.2 Internal User I/O Wiring Harness and Air Lines
Fig. 7-2: Allowable Load on U-axis
X Direction Restriction
20
15
W1=0kg
Weight W2 (kg)
10
W1=5kg
5
W1=10kg
0
-200 -100 0 100 200 300 400
Distance between U-Axis Rotation Center and Load Gravity (mm)

Internal user I/O wiring harness (14 wires: 0.2 mm2 x 8 wires, 0.75 mm2 x
2 wires and 1.25 mm2 x 4 wires) and one air line 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" on page 7-3.
The connector pins 1 to 16 are assigned as shown in Fig. 7-4 "Details of
the Connector Pin Numbers" on page 7-4. Wiring must be performed by
users.
The allowable current for internal user 3.0A or less for each wire
I/O wiring harness (The total current value for pins 1 to 16
must be 40A or less.)
The maximum pressure for the air line 490 kPa (5 kgf/cm2) or less.
(The air line inside diameter: 8.0 mm)
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Fig. 7-3: Connectors for Internal User I/O Wiring Harness and Air Line
Connector for the internal user I/O wiring harness:

JL05-2A20-29SC (socket connector with a cap)
Prepare pin connector: JL05-6A20-29P
Air inlet
PT3/8 with a pipe plug
A Air inlet
PT3/8 with a pipe plug
2BC
1BC
3BC
Connector for the internal user I/O wiring harness:

JL05-2A20-29PC (pin connector with a cap)
View A
Prepare socket connector: JL05-6A20-29S
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Fig. 7-4: Details of the Connector Pin Numbers
Connector for Internal User I/O Wiring Harness

on the Connector Base
1
2
3
4
5
6
7 (Open) 1
Pins used 8 (Open) 2 3
9 4 5
6
10 7 8
11 (0.75mm22) 9 10
12 (0.75mm ) 11 12
13 (1.25mm2) 13 14
14 (1.25mm2)
15 (1.25mm2) 15 16
16 (1.25mm2)
Internal user I/O wiring harness : 0.2 mm2, 8 wires

: 0.75 mm2, 2 wires
: 1.25 mm2, 4 wires
Connector for Internal User I/O Wiring Harness

on the U-arm
1
2
3
4
5
6
7 (+24V: for shock sensor (1A) ) 1
Pins used 8 (Shock sensor signal input) 2 3
9 4 5
6
10 7 8
11 (0.75mm2) 9 10
12 (0.75mm2) 11 12
13 (1.25mm2) 13 14
14 (1.25mm2)
15 (1.25mm ) 2 15 16
16 (1.25mm2)
Internal user I/O wiring harness : 0.2 mm2, 8 wires

: 0.75 mm2, 2 wires
: 1.25 mm2, 4 wires
• For the standard specification, the pins No.7 and No.8 of

3BC connector on the U-arm are respectively connected
with the shock sensor power supply and shock sensor
signal input port of the DX100 controller.
NOTE • The pins No.7 and No.8 of respective 3BC connectors
on the connector base side and the U-arm side are not
connected with each other.
• For wiring, refer to Fig. 8-3(a) "Internal Connection
Diagram" on page 8-3
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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MH6S-10 8 Electrical Equipment Specification
8.1 Position of Limit Switch
8 Electrical Equipment Specification
8.1 Position of Limit Switch

The limit switches are optional. See Fig.8-1 "Location of Limit Switches".
The manipulator with S- and L-axis overrun limit switches, and L- and U-
axes interference limit switch is the type YR-MH0006S-A31.
Fig. 8-1: Location of Limit Switches
L- and U-axes interference

limit switch (optional)
L-axis overrun limit switch

(optional)
S-axis overrun limit switch

(optional)
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MH6S-10 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".
Diagrams for internal connections of the manipulator are shown in
Fig. 8-3(a) "Internal Connection Diagram" on page 8-3 and Fig. 8-3(b)
"Internal Connection Diagram" on page 8-4.
Fig. 8-2: Location and Numbers of Connectors
3BC (for internal user I/O wiring harness)

on the U-arm
2BC
1BC
3BC
3BC (for internal user I/O wiring harness)

on the connector base
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 (JL05-6A20-29S: Optional)
base
Connector for the internal user I/O JL05-2A20-29SC
wiring harness on the U-arm (JL05-6A20-29P: Optional)
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MH6S-10 8.2 Internal Connections
Fig. 8-3(a): Internal Connection Diagram
INTERNAL CABLE INTERNAL CABLE

POWER CABLE INTERNAL CABLE IN S-AXIS IN L-AXIS IN BT-AXIS
<Notes>
1.For the limit switch specification, the connection of the section A B are changed as follows:
0BT 1 0BAT11 17 0BAT1
P BAT 2 BAT11 18 BAT1 LC1 LC1
0BT 3 0BAT12 19 0BAT2
LD1 LD1
P BAT 4 BAT12 20 BAT2 S-AXIS OVERRUN L.S. Connected to B1
21 0BAT3 LD1 LC2
22 BAT3
LD2 LD2 L-AXIS OVERRUN L.S. Connected to B2
23
24 LD2 LC3
0BT 5 0BAT21 25 0BAT4 LD1 LD3 L AND U-AXES INTERFERENCE L.S. Connected to B3
P BAT 6 BAT21 26 BAT4
0BT 7 0BAT22 27
P BAT 8 BAT22 28
29 LA1 LA1
30 LB1 LB1
1 31
S-AXIS OVERRUN L.S. Connected to A1
2 32 LB1 LA2
3 1 PG0V1 LB2 LB2
4 2 PG5V1
L-AXIS OVERRUN L.S. Connected to A2
5 3 PG0V2 LB2 LA3
6 4 PG5V2 LB1 LB3
LB1 LA2 L AND U-AXES INTERFERENCE L.S. Connected to A3
7 5 PG0V3
8 6 PG5V3 P LB2 LB2 A2 SLU-axes with Limit Switch Specification
7 PG0V4
8 PG5V4
LD1 LC2 LC1 LC1
1BC(10X4) 9 PG0V5
CONTROLLER 10 PG5V5 P LD2 LD2 B2 LD1 LD1
S-AXIS OVERRUN L.S. Connected to B1
CN1-5 CN1-5 +24V 1 11 PG0V6
CN1-4 P CN1-4 0V 3 12 PG5V6 LA1 LA1
13 LB1 LB1
CN1-10 CN1-10 +24V 2 14
S-AXIS OVERRUN L.S. Connected to A1
CN1-9 P CN1-9 0V 4 15
16 No.22CN No.18CN
S-axis with Limit Switch Specification
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
-6 BAT -6 BAT
-5 OBT P -5 OBT PG S-AXIS
-4 +5V -4 +5V
P -9 0V P -9 0V
CN1-3 CN1-3 -7 FG1 -10 FG1
FG1
P
No.23CN No.19CN
CN1-6 CN1-6 SPG+2 23CN-1 DATA+2 19CN-1 DATA+2
-6 BAT -6 BAT
-5 OBT P -5 OBT PG L-AXIS
-4 +5V -4 +5V
P -9 0V P -9 0V
CN1-8 CN1-8 FG2 -7 FG2 -10 FG2
P
CN4-1 CN4-1 +24V
CN4-6 P CN4-6 LB1
CN4-2 CN4-2 SS2

CN4-7 P CN4-7 AL1
No.16CN
CN2-1 CN2-1 SPG+3 16CN-1 DATA+3
CN2-2 P CN2-2 SPG-3 P -2 DATA-3
-6 BAT
P -5 OBT PG U-AXIS
CN2-3 CN2-3 FG3 -4 +5V
P -9 0V
-10 FG3
No.9CN
CN2-6 CN2-6 SPG+4 9CN-1 DATA+4
CN2-7 P CN2-7 SPG-4 P -2 DATA-4
1BC(10X4) -3 BAT
P -4 OBT PG R-AXIS
CN2-8 CN2-8 10CN-1 +5V
FG4
P -2 0V
-3 FG4
CN2-10 CN2-10 +24V
OBT
P BAT
No.13CN No.1CN
CN3-1 CN3-1 SPG+5 -1 DATA+5 1CN-1 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
-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 A1 LB1 P LB3
A3
+5V
CN4-4 CN4-4 +24V LC1 LD1 LD2 LC3

CN4-5 P CN4-5 LD1 LD1 P LD3
CN4-9 CN4-9 B3
FG8
B1
E
E
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MH6S-10 8.2 Internal Connections
Fig. 8-3(b): Internal Connection Diagram
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
CN1-1 CN1-1 ME1 20CN-3 MU1
CN1-2 CN1-2 ME2 -2 MV1
CN1-3 CN1-3 ME2 -1 MW1 SM S-AXIS
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 L-AXIS
CN2-3 CN2-3 MW2 -1 MW2
CN2-5 CN2-5 MV2 -4 BA2
No.17CN
CN3-1 CN3-1 MU3 17CN-3 MU3
CN3-2 CN3-2 MV3 -2 MV3
CN3-3 CN3-3 MW3 -1 MW3 SM 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
CN4-3 CN4-3 MW5 -3 MW4
SM R-AXIS
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
CN5-3 CN5-3 ME5 -3 MW5 -3 MW5
SM B-AXIS
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
CN6-3 CN6-3 BA4 -7 MW6 -3 MW6
SM T-AXIS
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
POWER CABLE INTERNAL CABLE IN S-AXIS INTERNAL CABLE INTERNAL CABLE

IN L-AXIS IN BT-AXIS
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MH6S-10 9 Maintenance and Inspection
9.1 Inspection Schedule
9 Maintenance and Inspection
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
• 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.
• The battery pack must be connected before removing detection
connector when maintenance and inspection.
Failure to observe this caution may result in the loss of home position
data.
9.1 Inspection Schedule

Proper inspections are essential not only to assure that the mechanism
will be able to function for a long period, but also to prevent malfunctions
and assure safe operation. Inspection intervals are classified into six
levels as shown in Table 9-2 "Inspection Items" on page 9-2.
In Table 9-2 "Inspection Items" on page 9-2, the inspection items are
categorized by three types of operations: operations which can be
performed by personnel authorized by the user, operations to be
performed by trained personnel, and operations to be performed by
service company personnel. Only specified personnel shall perform the
inspection work.
• The inspection interval depends on the total servo

operation time.
• 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.
9-1
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MH6S-10
Table 9-2: Inspection Items (Sheet 1 of 2)
Items1) Schedule Method Operation Inspection
Charge
Service Company
Specified Person
12000 H Cycle
1000 H Cycle
6000 H Cycle
Licensee
24000 H
36000 H
Daily
9.1
9
1 Alignment mark
• Visual Check alignment mark accordance and damage at the home
position.
• • •
Inspection Schedule
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 leakage.2)
4 Motors for S-, L-, U-axes
• Visual
• • •
9-2
5 Baseplate mounting bolts

• Spanner
Wrench
Tighten loose bolts. Replace if necessary.
• • •
6 Cover mounting screws
• Screwdrive
r, Wrench
Tighten loose bolts. Replace if necessary.
• • •
7 Connector base
• Manual Check for loose connectors.
• • •
8 Timing belts for B- and T-
axes
• Manual Check for belt tension and wear.
• •
9 Wire harness in
manipulator
• Visual,
Multimeter
Check for conduction between the main connecter of base and
intermediate connector with manually shaking the wire. Check for
• •
(SLU-axis wires) wear of protective spring3)
HW1480200
(RBT-axis wires) Replace4)

• •
01 Wire harness in
manipulator
• Visual,
Multimeter
Check for conduction between terminals and wear of protective
spring.3)
• •
(BT-axis wires) Replace4)
• •
11 Battery pack in
manipulator
• Replace the battery pack when the battery alarm occurs or the
manipulator drove for 36000H.
• •
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Table 9-2: Inspection Items (Sheet 2 of 2)
167430-1CD
MH6S-10
Items1) Schedule Method Operation Inspection
Charge
Service Company
Specified Person
12000 H Cycle
1000 H Cycle
6000 H Cycle
Licensee
24000 H
36000 H
Daily • • • •
9.1
9
21 S-axis speed reducer Grease Check for malfunction. (Replace if necessary.)
Gun Supply grease5) (6000H cycle.) See Section 9.3.1 on page 9-7.
Replace grease5) (12000H cycle.)
See Section 9.3.1 on page 9-7.
Inspection Schedule
31 Speed reducers for L-
and U-axes
• • Grease
Gun
Check for malfunction. (Replace if necessary.)
Supply grease5) (6000H cycle.) See Section 9.3.2 on page 9-10 and
• •
Section 9.3.3 on page 9-12.
Replace grease5)(12000H cycle.) See Section 9.3.2 on page 9-10,
and Section 9.3.3 on page 9-12.
9-3
Check for malfunction. (Replace if necessary.) Supply grease5)

41 Speed reducers for R-, B-
, and T-axes
• Grease
Gun (6000H cycle.)
• •
See Section 9.3.4 on page 9-14 and Section 9.3.5 on page 9-15.
51 T-axis gear
• Grease
Gun
Check for malfunction. (Replace if necessary.) Supply
grease5)(6000H cycle.) See Section 9.3.6 on page 9-17.
• •
Check for malfunction. (Replace if necessary.) Supply grease5)
61 R-axis cross roller
bearing
• Grease
Gun (6000H cycle.) Section 9.3.7 on page 9-18.
• •
71 Overhaul
• •
1 Inspection No. correspond to the numbers in Fig. 9-4 "Inspection Items" on page 9-4.
HW1480200
2 The occurrence of a grease leakage indicates the possibility that grease has seeped into the motor. This can cause a motor breakdown. Contact your Yaskawa
representative.
3 When checking for conduction with multimeter, connect the battery to “BAT” and “OBT” of connectors on the motor side for each axis, and then remove connectors
on detector side for each axis from the motor. Otherwise, the home position may be lost. (Refer to Section 9.3.8 “Notes for Maintenance” on page 9-19.)
4 Wire harness in manipulator to be replaced at 24000H inspection.
5 For the grease, refer to Table 9-3 "Inspection Parts and Grease Used" on page 9-5.
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Fig. 9-4: Inspection Items
MH6S-10
5
8 T-axis
Note:
This figure shows the standard specification
4
manipulator in the home position.
8 B-axis
9.1
9
Inspection Schedule
14 R-axis
T-axis 14 15 14 B-axis 16
13
9-4
4
13
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9.2 Notes on Maintenance Procedures
Table 9-3: Inspection Parts and Grease Used

No. Grease Used Inspected Parts
12,13 VIGO Grease Speed reducers for S-, L-, U-axes
RE No.0
14,15 Harmonic Speed reducers for R-, B-, T-axes,
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 9-2
"Inspection Items" on page 9-2.
9.2.1 Battery Pack Replacement

The battery packs (type: HW0470360-A) are installed in the position
shown in Fig.9-5 "Battery Location". If the battery alarm occurs in the
DX100, replace the battery in accordance with the following procedure:
Fig. 9-5: Battery Location
Support
Battery pack
Connector base
Plate fixing screw
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Fig. 9-6: Battery Connection
See replacing step 5 Battery pack before replacement
Connector
Board
See replacing step 4
New battery pack
(HW0470360-A)
1. Turn OFF the DX100 main power supply.

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

8. Reinstall the plate. Seal the matching surface of the cover with the
sealant: Three Bond 1206C (refer to Table 10-1 "Spare Parts for the
YR-MH0006S-A30, -A31" on page 10-1.) Also, apply the sealant to
the thread part of fixing screws.
NOTE Do not allow the 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
NOTE damage to the motor due to coming off of an oil seal.
• Make sure to use a grease pump to inject grease. Set air
supply pressure to the grease pump at 0.3 MPa or less,
and the grease injection rate at 8 g/s or less.
• Make sure to fill hoses, which are joined to the grease
inlet, with grease beforehand to prevent air from intruding
into the speed reducer.
9.3.1 Grease Replenishment/Exchange for S-Axis Speed Reducer

Fig. 9-7: S-Axis Speed Reducer Diagram
Grease exhaust port

Hexagon socket head plug PT1/8
2BC
1BC
3BC
S-axis speed reducer

Grease inlet
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. 9-7 "S-Axis Speed Reducer Diagram" on page 9-7.)
1. Remove the hexagon socket head plugs PT1/8 from the grease inlet
and grease 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
damage to the motor due to coming off of an oil seal.
2. Install a 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.
– 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 excess grease.
5. Wipe the discharged grease with a cloth. Remove the grease zerk
from the grease inlet, and reinstall the hexagon socket head plugs PT
1/8 to the grease inlet and grease exhaust port. Before installing the
plugs, apply Three Bond 1206C on the thread part of each plug, then
tighten the plug with a tightening torque of 4.9 N•m (0.5 kgf•m).
9.3.1.2 Grease Exchange

(Refer to Fig. 9-7 "S-Axis Speed Reducer Diagram" on page 9-7.)
1. Remove the hexagon socket head plugs PT1/8 from the grease inlet
and the grease exhaust port.
NOTE
2. Install a grease zerk PT1/8 to the grease inlet.

3. Inject the grease through the grease inlet using a grease gun.
– Amount of grease: approx. 450 cc
4. The grease exchange is completed when new grease appears in the
grease exhaust port. (The new grease can be distinguished from the
old grease by color.)
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5. Move the S-axis for a few minutes to discharge excess grease.

6. 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 Three Bond
1206C on the thread part of each plug, then tighten the plug with a
tightening torque of 4.9 N•m (0.5 kgf•m).
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9.3.2 Grease Replenishment/Exchange for L-Axis Speed Reducer

Fig. 9-8: L-Axis Speed Reducer Diagram
Grease exhaust port

L-arm
Grease inlet
Hexagon socket head cap screw M6


(Refer to Fig.9-8 "L-Axis Speed Reducer Diagram".)
1. Make the L-arm vertical to the ground.
2. Remove the hexagon socket head plug PT1/8 from the grease
exhaust port.
3. Remove the hexagon socket head cap screw M6 from the grease inlet.
NOTE
4. Install a grease zerk A-MT6 x 1 to the grease inlet.

5. Inject grease through the grease inlet using a grease gun.
6. Move the L-axis for a few minutes to discharge excess grease.
7. Remove the grease zerk from the grease inlet, and reinstall the screw.
Before installing the screw, apply Three Bond 1206C on the thread
part of the screw. Then tighten the screw with a tightening torque of 10
N•m (1.0 kgf•m).
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8. Wipe the discharged grease with a cloth, and reinstall the plug. Before
installing the plug, apply Three Bond 1206C on the thread part of the
plug. Then tighten the plug with a tightening torque of 4.9 N•m
(0.5 kgf•m).

(Refer to Fig. 9-8 "L-Axis Speed Reducer Diagram" on page 9-10.)
1. Make the L-arm vertical to the ground.
2. Remove the hexagon socket head plug PT1/8 from the grease
exhaust port.
3. Remove the hexagon socket head cap screw M6 from the grease inlet.
NOTE
4. Install a grease zerk A-MT6 x 1 to the grease inlet. (The grease zerk is
delivered with the manipulator.)
7. Move the L-axis for a few minutes to discharge excess grease.
8. Remove the grease zerk from the grease inlet, and reinstall the screw.
part of the screw. Then tighten the screw with a tightening torque of 10
N•m (1.0 kgf•m).
9. Wipe the discharged grease with a cloth, and reinstall the plug to the
grease exhaust port. Before installing the plug, apply Three Bond
1206C on the thread part of the plug, then tighten the plug with a
tightening torque of 4.9 N•m (0.5 kgf•m).
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9.3.3 Grease Replenishment/Exchange for U-Axis Speed Reducer

Fig. 9-9: U-Axis Speed Reducer Diagram
U-arm U-axis speed reducer
Grease exhaust port

Hexagon socket
head cap screw M6
Grease inlet
Hexagon socket
head plug PT1/8


(Refer to Fig.9-9 "U-Axis Speed Reducer Diagram".)
1. Make the U-arm horizontal to the ground.
2. Remove the hexagon socket head cap screw M6 from the grease
exhaust port.
3. Remove the hexagon socket head plug PT1/8 from the grease inlet.
• If grease is injected with the screw on, the grease will leak
remove the screw before the grease injection.
NOTE
4. Install a grease zerk PT1/8 to the grease inlet. (The grease zerk is
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6. Move the U-axis for a few minutes to discharge excess grease.

7. Remove the grease zerk from the grease inlet, and reinstall the plug.
Before installing the plug, apply Three Bond 1206C on the thread part
of the plug, then tighten the plug with a tightening torque of 4.9 N•m
(0.5 kgf•m).
8. Wipe the discharged grease with a cloth, and reinstall the screw to the
grease exhaust port. Before installing the screw, apply Three Bond
1206C on the thread part of the screw, then tighten the screw with a
tightening torque of 10 N•m (1.0 kgf•m).

(Refer to Fig. 9-9 "U-Axis Speed Reducer Diagram" on page 9-12.)
1. Make the U-arm horizontal to the ground.
2. Remove the hexagon socket head cap screw M6 from the grease
exhaust port.
3. Remove the hexagon socket head plug PT1/8 from the grease inlet.
• If grease is injected with the screw on, the grease will leak
remove the screw before the grease injection.
NOTE
4. Install a grease zerk PT1/8 to the grease inlet. (The grease zerk is
7. Move the U-axis for a few minutes to discharge excess grease.
8. Remove the grease zerk from the grease inlet and reinstall the plug.
Before installing the plug, apply Three Bond 1206C on the thread part
of the plug, then tighten the plug with a tightening torque of 4.9 N•m
(0.5 kgf•m).
9. Wipe the discharged grease with a cloth, and reinstall the screw to the
grease exhaust port. Before installing the screw, apply Three Bond
1206C on the thread part of the screw, then tighten the screw with a
tightening torque of 10 N•m (1.0 kgf•m).
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9.3.4 Grease Replenishment for R-Axis Speed Reducer

Fig. 9-10: R-Axis Speed Reducer Diagram
Pipe plug
Exhaust port
Grease inlet
Grease zerk A-MT6 x 1 Plug LP-M5
1. Remove the plug LP-M5 from the exhaust port.

2. Remove the pipe plug.
3. Inject grease through the grease inlet using a grease gun. (Refer to
Fig.9-10 "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 LPM5 plug to the exhaust port.
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9.3.5 Grease Replenishment for B- and T-Axis Speed Reducers

Fig. 9-11: 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 port.
NOTE Remove the cover for the B-axis speed reducer.
2. Remove the hexagon socket head cap screw M6 from the grease inlet
and install the grease zerk A-MT6 x 1. (The grease zerk is delivered
with the manipulator.)
3. Inject grease into the grease inlets using a grease gun. (Refer to
Fig.9-11 "B- and T-Axis Speed Reducers Diagram")
– Amount of grease: For B-axis: 10 cc
(20 cc for 1st supply)
For T-axis: 5 cc
(10 cc for 1st supply)
4. Remove the grease zerk form the grease inlet, and reinstall the
hexagon socket head cap screw M6. Before installing the screw, apply
Three Bond 1206C on the thread part of the screw, then tighten the
screw with a tightening torque of 6 N•m (0.6 kgf•m).
5. Reinstall the LPM5 plug of B-axis or the hexagon socket head cap
screw M6 of T-axis to the exhaust port. Before installing the plug or
the screw, apply Three Bond 1206C on the thread part of the plug or
the screw. Tighten the screw with a tightening torque of 6 N•m
(0.6 kgf•m).
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NOTE Mount the cover for the B-axis speed reducer. (Refer to
Section 9.3.8 “Notes for Maintenance” on page 9-19.)
9-16
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9.3.6 Grease Replenishment for T-Axis Gear

Fig. 9-12: T-Axis Gear Diagram
Exhaust port
Plug LP-M5
Grease inlet
Hexagon socket head
cap screw M6

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
3. Inject grease into the grease inlet using a grease gun. (Refer to
Fig.9-12 "T-Axis Gear Diagram")
4. Remove the grease zerk from the grease inlet and reinstall the screw.
part of the screw, then tighten the screw with a tightening torque of 6
N•m (0.6 kgf•m).
5. Reinstall the plug to the exhaust port. Before installing the plug, apply
Three Bond 1206C to the thread part of the plug.
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9.3.7 Grease Replenishment for R-Axis Cross Roller Bearing

Fig. 9-13: R-Axis Cross Roller Bearing Diagram
R-axis cross roller bearing

Exhaust port
Plug LP-M5
Grease inlet
Hexagon socket head cap screw M6

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
3. Inject grease into the grease inlet using a grease gun. (Refer to
Fig.9-13 "R-Axis Cross Roller Bearing Diagram"
– Grease type: Alvania EP grease 2
4. Remove the grease zerk from the grease inlet and reinstall the screw.
part of the screw, then tighten the screw with a tightening torque of
6 N•m (0.6 kgf•m).
5. Reinstall the plug to the exhaust port. Before installing the plug, apply
Three Bond 1206C to the thread part of the plug.
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9.3.8 Notes for Maintenance
9.3.8.1 Wrist Unit

The motor and encoder units are provided with the wrist unit. To prevent
fumes from penetrating into the wrist unit, the matched parts are sealed
with sealing bond. If the wrist cover is disassembled, make sure to reseal
with sealing bond. (Three Bond 1206C, refer to Table 10-1 "Spare Parts
for the YR-MH0006S-A30, -A31" on page 10-1.)
Fig. 9-14: Sealing Part of Wrist Unit
Cover
Cover matching surface
Cover matching surface

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.
Fig. 9-15(a): Encoder Connector Diagram (for S-, L-, and U-Axes)
Motor
Motor power connector

Encoder connector
0BT b a 0BT*
BAT a b BAT*
Battery pack HW9470932-A
Connector for battery backup
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Fig. 9-15(b): Encoder Connector Diagram (for R-, B-, and T-axes)
Encoder
Motor
Wire harness in manipulator

Motor cable, etc.
Power connector
Connection
b OBT4
OBT a a BAT4
BAT b
removing connector.
to save the data before
Connect battery to encoder
CAUTION
Encoder connector Battery pack HW9470932-A
CAUTION label Connection Diagram

OBT a b OBT4
BAT b a BAT4
CAUTION Label (Enlarged view) a: Crimped contact-pin (Socket)

b: Crimped contact-pin (Pin)
CAUTION
Connect battery to encoder
to save the data before
removing connector.
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10 Recommended Spare Parts
MH6S-10

It is recommended to keep the parts and components in the following table
in stock as spare parts for the MOTOMAN-MH6S-10. 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-MH0006S-A30, -A31 (Sheet 1 of 2)

Rank Parts Name Type Manufacturer Qty Qty Remarks
No. per
Unit
A 1 Grease VIGO Grease Yaskawa 16 kg -
RE No.0
A 2 Grease Harmonic Grease Harmonic Drive 2.5 kg -
SK-1A Systems Inc.
A 3 Grease Alvania EP Grease 2 Showa Shell 16 kg -
Sekiyu K.K.
A 4 Liquid Gasket Three Bond 1206C ThreeBond Co., - -
Ltd.
A 5 Battery Pack HW0470360-A Yaskawa 1 1
A 6 Battery Pack HW9470932-A Yaskawa 1 1 For replacement
of the 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-B Yaskawa 1 1
Speed Reducer
B 12 L-axis Input Gear HW0314503-1 Yaskawa 1 1
B 13 U-axis HW9280738-B Yaskawa 1 1
Speed Reducer
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
10-1
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MH6S-10
Table 10-1: Spare Parts for the YR-MH0006S-A30, -A31 (Sheet 2 of 2)

Rank Parts Name Type Manufacturer Qty Qty Remarks
No. per
Unit
B 18 R-axis Cross Roller HW0381872-A Yaskawa 1 1
Bearing
B 19 Wire Harness in HW0174869-A Yaskawa 1 1
Manipulator
B 20 Wire Harness in HW0271431-A Yaskawa 1 1
Manipulator
for B- and T-axes
C 21 AC Servomotor for SGMRV-05ANA-YR2* Yaskawa 1 2
S-and U-axes HW0388664-A
C 22 L-axis SGMRV-09ANA-YR1* Yaskawa 1 1
AC Servomotor HW0388665-A
C 23 AC Servomotor for SGMPH-01ANA-YR1* Yaskawa 1 3
R-, B-, and T-axes HW0389297-A
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MH6S-10 11 Parts List
11.1 S-Axis Unit
11 Parts List
11.1 S-Axis Unit

Fig. 11-1: S-Axis Unit
1022 1004
1005
1006
1008
1007 1023 1017
1023
1016
1003
1037
1018
1034
1002
1045
1036
1056
1057
1011
1014 1012
1013
1020
1010 1024
1029
1055 1028
1015
1052
1025
1043
1030 1033 1044
1042
1040
1031
1015 1032
1026 1001
1027
1019
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11.1 S-Axis Unit
Table 11-1: S-Axis Unit

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
1010 HW0412662-2 Support 1
1011 T50R Cable tie 1
1012 M5X8 Round Head Screw 1
with Spring Washer
1013 TAI-S10 Clamp 1
1014 CD-31 Saddle 1
1015 EZ5036A0 Cap 2
1016 POC6-01 Union 1
1017 NB-0640-0.2 Tube 1
1018 PT1/8 Plug 1
1019 M5X10 APS bolt 6
1024 HW0414041-1 Dog 1
1030 HW0386621-B Speed reducer 1
1031 TSH6-01M Union 1
1032 NB-0640-0.3 Tube 1
1033 HW0314610-1 Cover 1
1036 HW0414211-1 Cover 1
1037 HW0314518-1 Cover 1
1042 M6 GT-LH washer 7
1043 PMF6-01 Union 1
1044 PT1/8 Plug 1
1052 HW0414324-1 Cover 1
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11.2 L-Axis Unit
11.2 L-Axis Unit

Fig. 11-2: L-Axis Unit
2012
2001
2003 2013
2010 2005
2009
2002
2011
2006
1002
2008
2007
2020
2019 2004
2015
2014
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11.2 L-Axis Unit
Table 11-2: L-Axis Unit

2003 HW0314503-1 Gear 1
2005 HW0102593-1 L arm 1
2006 HW0314514-1 Cover 1
2008 M6 GT-LH washer 2
2013 PT1/8 Plug 1
2020 M14 GT-SH washer 2
1002 HW0102223-1 S head 1
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11.3 U-Axis Unit
11.3 U-Axis Unit

Fig. 11-3: U-Axis Unit
3023
3002 3019
3009
3001
3025
3017
3024
3020
3016
3010 3022
3006 3018 3021
3008
3014
3007
3035
3028
3015 3032
3027
3034 3031
3037
3036
3012
3011
3028 3013
3012
3004 3013
3003
3034 3026
3035
2005
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11.3 U-Axis Unit
Table 11-3: U-Axis Unit

3006 HW0303277-4 Gear 1
3009 HW0102559-1 Casing 1
3010 HW0201244-4 Cover 1
3012 HW0404179-1 Stopper 2
3014 HW0404152-1 Support 1
3016 TA1-S8 Clamp 2
3018 M4X10 Round Head Screw with 2
Spring Washer
3019 HW0404718-1 N base 1
3023 HW9481087-A Gasket 1
3024 M3X16 Round Head Screw with 2
Spring Washer
3025 M3 Nut 2
3028 PT3/8 Plug 2
(DACROTIZRD coating)
3031 HW0415126-1 Cover 1
3032 KQE12-03 Union 1
2005 HW0102593-1 L arm 1
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11.4 R-Axis Unit
11.4 R-Axis Unit

Fig. 11-4: R-Axis Unit
4009 4044
4043 4045
4010
4037 4007
4036
4035
4039 4008
4024 4026
4040
4025 4042
4027
4030
4037 4029
4032
4028
4031
4004 4017
4023 4028
4012 4033
4018
4021
4019 4030
4022 4029
4041 4020
4003 3009
4038
4015
4034
4014
4011 4016
4003
4013
4006
4001 4002 4005
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11.4 R-Axis Unit
Table 11-4: R-Axis Unit (Sheet 1 of 2)

4001 SGMPH-01ANA-YR1* Motor 1
4003 HW0382277-A Speed reducer 1
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
4032 M4X10 Round Head Screw 1
with Spring Washer
4033 T18L Cable tie 1
4035 HW0404720-1 Cover 1
4037 LP-M5 Plug 2
4038 A-MT6X1 G nipple 1
4040 EZ5036A0 Cap 1
4041 HW0404304-1 Packing 1
4042 M5X10 APS bolt 1
4043 HW0306455-1 Shaft 1
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11.4 R-Axis Unit
Table 11-4: R-Axis Unit (Sheet 2 of 2)

3009 HW0102559-1 Casing 1
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11.5 Wrist Unit
11.5 Wrist Unit
Fig. 11-5: Wrist Unit
5041
5042
5040
5046
5043 5059
5044
5010 5045
5054 5007
5060
5070
5039
5050
5061
5036 5005
5011 5027
5009 5037
5029 5070 5053
5019 5067
5026 5038
5069 5060
5024 5028
5067
5031
5024 5023
5030 5060 5035
5032 5051
5017 5052
5001 5062
5063
5002 5064 5008
5033 5003
5049
5055
5060
5001 5021
5004 5068
5002 5048 5025
5047 5022
5065 5018 5034
5066 5020
5024
5067
5010
3009 5011
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11.5 Wrist Unit
Table 11-5: Wrist Unit (Sheet 1 of 2)

5001 SGMPH-01ANA-YR1* Motor 2
5008 HW0100881-1 U arm 1
5009 HW0200491-1 Wrist base 1
5010 HW0200599-2 Cover 2
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
5044 HW0307678-1 Shaft 1
5045 HW0307679-1 Flange 1
5047 HW0403705-1 Housing 1
5050 SP-0120** Shim 1
11-11
HW1480200 71/73
167430-1CD
11.5 Wrist Unit
Table 11-5: Wrist Unit (Sheet 2 of 2)

5051 HW0404302-1 Shaft 1
5053 HW0303912-1 Housing 1
5055 HW0404303-1 Collar 1
5059 HW0404371-1 Bolt 1
5061 LP-M5 Plug 1
5064 M6 Washer 1
5070 M6 Washer 2
3009 HW0102559-1 Casing 1
11-12
HW1480200 72/73
MOTOMAN-MH6S-10
INSTRUCTIONS
Specifications are subject to change without notice

for ongoing product modifications and improvements.
MANUAL NO.
HW1480200 0 73/73

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MOTOMAN-MH6S-10

Part Number: 167430-1CD

Notes for Safe Operation

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 to

• Observe the following precautions when performing teaching

Definition of Terms Used Often in This Manual

Explanation of Warning Labels

WARNING Label A WARNING Label A

Nameplate: WARNING Label A:

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...................................................................................................... 2-2

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

3.1 Safeguarding Installation ................................................................................................... 3-1

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

3.2.1 Mounting Example................................................................................................ 3-2

3.3 Ways of Mounting .............................................................................................................. 3-4

3.3.1 S-axis Operating Range ....................................................................................... 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 ..................................................................................... 4-2

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

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

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

5.3 Manipulator Base Dimensions ........................................................................................... 5-2

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

5.5 Alterable Operating Range ................................................................................................ 5-4

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

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

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

8.1 Position 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.................................................................................... 9-5

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

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

9.3.1 Grease Replenishment/Exchange for S-Axis Speed Reducer ............................. 9-7

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

9.3.3 Grease Replenishment/Exchange for U-Axis Speed Reducer ........................... 9-12

9.3.4 Grease Replenishment for R-Axis Speed Reducer ............................................ 9-14

9.3.6 Grease Replenishment for T-Axis Gear.............................................................. 9-17

9.3.8 Notes for Maintenance........................................................................................ 9-19

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