YASKAWA INDUSTRIAL ROBOT

YASKAWA MOTOMAN-MH6
6 kg PAYLOAD, 6-AXIS VERTICALLY ARTICULATED

General-purpose, High-speed Robot

with the World’s Greatest Performance !
Can respond to arc-welding applications!
(1) The MOTOMAN-MH6 offers a 6 kg payload, and is effective with a great
variety of applications, including servotorches and TIG welding devices.
(2) The DX100, Yaskawa’s newest robot controller, controlles the arc ON/OFF
timing of MOTOWELD* welding power source to reduce welding cycle time.
(3) The power cable and gas and air hoses can be accommodated to the base.
Several robots can be installed in close proximity without any interference
between each other, which will allow construction of a highly effective and
space-saving welding cell.

Improve efficiency of teaching and setup!

The multi-window function enables you to monitor a program by viewing
several displays of I/Os or variables at the same time. This greatly increases
the efficiency of teaching and setup operations.

World’s highest speed performance!

The DX100, Yaskawa’s newest robot controller, brings out the maximum
performance in rotation and torque from the newest servomotors on the robot
axes and increases the motion speed of each robot axis. This greatly reduces
the cycle time in various applications such as handling and arc welding.

Dimensions Units : mm : P-point Maximum Envelope * : MOTOWELD is a welding power source for MOTOMAN.
1122

1422
637

309

152

349
381
0

1722

141 640 95
75

R A
81

170˚ 422
R3

R1
155

B T
˚
83

U
Point P
614

˚
90
1294

188 199
L 681
155 ˚

130

R2
352 170˚ 70
450

250˚
B
S 0
5
C 204
316
175˚
300
764 260
132±0.1
538
501

102±0.1
153±0.1

240
60
4-18 dia. Holes
6 45˚ Air Inlet A
4-M6 Tapped Holes PT3/8 tapped,
(Pitch : 1.0)(Depth : 9)
260
300
292

(with plug)
Air Inlet B
60

1BC
2BC

PT3/8 tapped,
132±0.1
130±0.1

6 P.C
3BC

(with plug) 2-16 +00.018 dia.

.D .4 Holes
0 Welding power source’s 12 +00.018 dia. Hole
25 +00.021 dia.
50 −00.016 dia.

terminal board 102±0.1

6 +00.012 dia. Hole Connector Type: JL05-2A20-29PC
100±0.1 153±0.1
(Depth : 6) Plug Type(Prepared by user): JL05-6A20-29S
View A View B View C
 YASKAWA INDUSTRIAL ROBOT

MOTOMAN-MH6
Manipulator Specifications DX100 Controller Specifications
Model MOTOMAN-MH6 Items Specifications
Configuration Dust proof
Type YR-MH00006-A00
425(W)× 450(D)× 1200(H) mm
Controlled Axis 6 (Vertically articulated) Dimensions
(Possible to control 3 external axes.)
Payload 6 kg Mass 100 kg max.
Repeatability*1 ±0.08 mm Cooling System Indirect cooling
S -axis (turning) ±170˚ Ambient During operation : 0˚C to +45˚C
Temperature During storage : −10˚C to + 60˚C
L -axis (lower arm) +155˚ to −90˚
Relative Humidity 90% max. (non-condensing)
Range of U -axis (upper arm) +250˚ to −175˚ Three-phase 200/220 VAC (+10% to −15%), 60 Hz (±2%)(Japan)
Power Supply
Motion R -axis (wrist roll) ±180˚ Three-phase 200 VAC (+10% to −15%), 50 Hz (±2%)(Japan)
B -axis (wrist pitch/yaw) +225˚ to −45˚ Grounding Grounding resistance : 100 Ω or less
Specialized signals : 23 inputs and 5 outputs
T -axis (wrist twist) ±360˚
Digital l/Os General signals : 40 inputs and 40 outputs
S -axis (turning) 3.84 rad/s, 220˚/s
Max. I/O (optional) : 2048 inputs and 2048 outputs
L -axis (lower arm) 3.49 rad/s, 200˚/s Positioning System By serial encoder
Maximum U -axis (upper arm) 3.84 rad/s, 220˚/s JOB : 200,000 steps, 10,000 instructions
Programming
Speed R -axis (wrist roll) 7.16 rad/s, 410˚/s CIO ladder Standard : 15,000 steps
Capacity
Expanded : 20,000 steps
B -axis (wrist pitch/yaw) 7.16 rad/s, 410˚/s
PCI : 2 slots for main CPUs and 1 slot for servo CPU
T -axis (wrist twist) 10.65 rad/s, 610˚/s Expansion Slots
1 additional slot for sensor board
R -axis (wrist roll) 11.8 Nžm LAN (Connection to Host) 1 (10BaseT/100BaseTX)
Allowable
B -axis (wrist pitch/yaw) 9.8 Nžm Interface RS-232C : 1ch
Moment Control Method Software servo control
T -axis (wrist twist) 5.9 Nžm
Standard 6 axes and 2 additional single-axis amplifiers
R -axis (wrist roll) 0.27 kgžm2
Allowable Drive Units can be mounted (8 axes max.)
Inertia B -axis (wrist pitch/yaw) 0.27 kgžm2 Additional amplifiers for the external axis can also be used.
(GD2/4) Munsell notation 5Y 7/1 (reference value)
T -axis (wrist twist) 0.06 kgžm2 Painting Color
Mass 130 kg
Temperature 0˚C to + 45˚C Programming Pendant Specifications
Humidity 20 to 80%RH (non-condensing) Items Specifications
Vibration 4.9 m/s2 or less Dimensions 169(W)×314.5(H)×50(D) mm
Mass 0.986 kg
Ambient Free from corrosive gasses or
Material Reinforced plastics
Conditions liquids, or explosive gasses Select keys, axes keys, numerical/application keys,
Others Clean and dry Operation mode keys (mode : teach, play, and remote),
Free from excessive electrical Device emergency stop button, enable switch, compact
flash card interface device (compact flash is optional.)
noise (plasma)
5.7-inch color LCD, touch panel 640×480 pixels
Power Requirements*2 1.5 kVA Display (Alphanumeric characters, Chinese characters,

*12 :: Conforms to JIS B 8432. Japanese letters, Others)

*Note :Varies in accordance with applications and motion patterns.

SI units are used for specifications.
IEC Protection Class IP65
Cable Length Standard : 8 m, Max. : 36 m (optional)

Sales Department YASKAWA ELECTRIC (SINGAPORE) PTE. LTD.

HEAD OFFICE
2-1 Kurosaki-Shiroishi, Yahatanishi-ku, Kitakyusyu-shi
806-0004, Japan
Phone: +81-93-645-7745 Fax: +81-93-645-7746
MOTOMAN INC. HEADQUARTERS
805 Liberty Lane, West Carrollton, OH 45449, U.S.A.
Phone: +1-937-847-6200 Fax: +1-937-847-6277
MOTOMAN ROBOTICS EUROPE AB
Franska Vagen 10, Box 4004, SE-390 04 Kalmar, Sweden
Phone: +46-480-417800 Fax: +46-480-417999
MOTOMAN ROBOTEC GmbH
Kammerfeldstrasse 1, 85391 Allershausen, Germany
Phone: +49-8166-90-0 Fax: +49-8166-90-103
YASKAWA ELECTRIC KOREA CORPORATION
1F, Samyang Bldg. 89-1, Shinchun-dong, Donk-ku, Daegu, Korea
Phone: +82-53-382-7844 Fax: +82-53-382-7845
151 Lorong Chuan, #04-01, New Tech Park, Singapore 556741
Phone: +65-6282-3003 Fax: +65-6289-3003
YASKAWA ELECTRIC (MALAYSIA) SDN, BHD.
Unit 47-1&2, Jalan PJU 5/9, Dataran Sunway, Kota Damansara, 47810,
Petaling Jaya Selangor, Malaysia
Phone: +60-3614-08919 Fax: +60-3614-08929
YASKAWA ELECTRIC (THAILAND) CO., LTD.
252/246, 4th Floor. Muang Thai-Phatra office Tower ll Rachadapisek Road,
Huaykwang Bangkok, 10320, Thailand
Phone: +66-2-693-2200 Fax: +66-2-693-4200
SHOUGANG MOTOMAN ROBOT CO., LTD.
No.7 Yongchang-North Road, Beijing Economic and Technological
Development Area, Beijing 100176, China
Phone: +86-10-6788-0541 Fax: +86-10-6788-0542
MOTOMAN MOTHERSON ROBOTICS LTD.
910, DLF Galleria, DLF City Phase IV, Gurgaon - 122002 Haryana, India
Phone: +91-124-414-8514 Fax: +91-124-414-8016

YASKAWA ELECTRIC CORPORATION In the event that the end user of this product is to be the military
and said product is to be employed in any weapons systems or
the manufacture thereof, the export will fall under the relevant
regulations as stipulated in the Foreign Exchange and Foreign
Trade Regulations. Therefore, be sure to follow all procedures
and submit all relevant documentation according to any and all
rules, regulations and laws that may apply.
YASKAWA

LITERATURE NO. CHEP C940440 17B

Published in Japan September 2008 08-7 1
Specifications are subject to change without notice 07-8-14
for ongoing product modifications and improvements. Printed on 100% recycled paper
© 2008 YASKAWA ELECTRIC CORPORATION. All rights reserved. with soybean oil ink.