(Cd光碟 - 操作手冊) Motoman-mh180 Instructions

MOTOMAN-MH180
INSTRUCTIONS
TYPE:
YR-MS165/MH180-A00 (STANDARD SPECIFICATION)
Upon receipt of the product and prior to initial operation, read these instructions thoroughly, and
retain for future reference.
MOTOMAN INSTRUCTIONS
MOTOMAN-MH180 INSTRUCTIONS
DX200 INSTRUCTIONS
DX200 OPERATORS MANUAL (for each purpose)
DX200 MAINTENANCE MANUAL
The DX200 operators manual above corresponds to specific usage. Be sure to use the appropriate manual.
Part Number:
Revision:
167428-1CD
5
MANUAL NO.
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MS165/MH180 Standard
Specification
Copyright 2016, 2014, 2013 YASKAWA America, Inc.

Terms of Use and Copyright Notice
All rights reserved. This manual is freely available as a service to
YASKAWA customers to assist in the operation of Motoman robots,
related equipment and software This manual is copyrighted property of
YASKAWA and may not be sold or redistributed in any way. You are
welcome to copy this document to your computer or mobile device for
easy access but you may not copy the PDF files to another website, blog,
cloud storage site or any other means of storing or distributing online
content.
Printed in the United States of America
First Printing, 2016
YASKAWA America, Inc.
Motoman Robotics Division
100 Automation Way
Miamisburg, OH 45342
Phone: 937-847-6200
www.motoman.com
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MANDATORY
This instruction manual is intended to explain mainly on the

mechanical part of the MOTOMAN-MH180 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 Instructions. To ensure correct and safe operation, carefully
read the DX200 Instructions before reading this manual.
CAUTION
Some drawings in this manual are shown with the protective covers
or shields removed for clarity. Be sure all covers and shields are
replaced before operating this product.
The drawings and photos in this manual are representative

examples and differences may exist between them and the
delivered product.
YASKAWA may modify this model without notice when necessary

due to product improvements, modifications, or changes in
specifications.
If such modification is made, the manual number will also be
revised.
If your copy of the manual is damaged or lost, contact a YASKAWA

representative to order a new copy. The representatives are listed
on the back cover. Be sure to tell the representative the manual
number listed on the front cover.
YASKAWA is not responsible for incidents arising from unauthorized

modification of its products. Unauthorized modification voids your
product's warranty.
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We suggest that you obtain and review a copy of the ANSI/RIA National
Safety Standard for Industrial Robots and Robot Systems (ANSI/RIA
R15.06-2012). You can obtain this document from the Robotic Industries
Association (RIA) at the following address:
Robotic Industries Association
900 Victors Way
P.O. Box 3724
Ann Arbor, Michigan 48106
TEL: (734) 994-6088
FAX: (734) 994-3338
www.roboticsonline.com
Ultimately, well-trained personnel are the best safeguard against
accidents and damage that can result from improper operation of the
equipment. The customer is responsible for providing adequately trained
personnel to operate, program, and maintain the equipment. NEVER
ALLOW UNTRAINED PERSONNEL TO OPERATE, PROGRAM, OR
REPAIR THE EQUIPMENT!
We recommend approved YASKAWA training courses for all personnel
involved with the operation, programming, or repair of the equipment.
This equipment has been tested and found to comply with the limits for a
Class A digital device, pursuant to part 15 of the FCC rules. These limits
are designed to provide reasonable protection against harmful
interference when the equipment is operated in a commercial
environment. This equipment generates, uses, and can radiate radio
frequency energy and, if not installed and used in accordance with the
instruction manual, may cause harmful interference to radio
communications.
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Notes for Safe Operation
Specification

Read this manual carefully before installation, operation, maintenance, or
inspection of the MOTOMAN-MH180.
In this manual, the Notes for Safe Operation are classified as DANGER,
WARNING, CAUTION, MANDATORY, or PROHIBITED.
DANGER
Indicates an imminent hazardous

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

result in death or serious injury to
personnel.
Indicates a potentially hazardous
result in minor or moderate injury to
personnel and damage to
equipment. It may also be used to
alert against unsafe practices.
CAUTION
Always be sure to follow explicitly
MANDATORY the items listed under this heading.
PROHIBITED
Must never be performed.
Even items described as CAUTION may result in a serious accident in

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

follow all instructions, even if not designated as DANGER,
WARNING and CAUTION .
DANGER
Maintenance and inspection must be performed by specified

personnel.
Failure to observe this caution may result in electric shock or injury.
For disassembly or repair, contact your YASKAWA representative.
Do not remove the motor, and do not release the brake.
Failure to observe these safety precautions may result in death or

serious injury from unexpected turning of the manipulator's arm.
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WARNING
Before operating the manipulator, check that servo power is turned

OFF pressing the emergency stop buttons on the front door of the
DX200 and the programming pendant.
When the servo power is turned OFF, the SERVO ON LED on the
programming pendant is turned OFF.
Injury or damage to machinery may result if the emergency stop circuit

cannot stop the manipulator during an emergency. The manipulator
should not be used if the emergency stop buttons do not function.
Fig. : Emergency Stop Button
Once the emergency stop button is released, clear the cell of all
items which could interfere with the operation of the manipulator.
Then turn the servo power ON.
Injury may result from unintentional or unexpected manipulator motion.

Fig. : Release of Emergency Stop
TURN
Observe the following precautions when performing teaching

operations within the P-point maximum envelope of the
manipulator:
Be sure to use a lockout device to the safeguarding when going
inside. Also, display the sign that the operation is being
performed inside the safeguarding and make sure no one closes
the safeguarding.
View the manipulator from the front whenever possible.
Always follow the predetermined operating procedure.
Keep in mind the emergency response measures against the
manipulators unexpected motion toward you.
Ensure that you have a safe place to retreat in case of
emergency.
Improper or unintended manipulator operation may result in injury.
Confirm that no person is present in the P-point maximum envelope

of the manipulator and that you are in a safe location before:
Turning ON the power for the DX200.
Moving the manipulator with the programming pendant.
Running the system in the check mode.
Performing automatic operations.
Injury may result if anyone enters the P-point maximum envelope of the
manipulator during operation. Always press an emergency stop button
immediately if there is a problem.
The emergency stop buttons are located on the right of front door of the
DX200 and the programming pendant.
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Definition of Terms Used Often in This Manual
Specification
CAUTION
Perform the following inspection procedures prior to conducting

manipulator teaching. If problems are found, repair them
immediately, and be sure that all other necessary processing has
been performed.
Check for problems in manipulator movement.
Check for damage to insulation and sheathing of external wires.
Always return the programming pendant to the hook on the cabinet

of the DX200 after use.
The programming pendant can be damaged if it is left in the

manipulator's work area, on the floor, or near fixtures.
Read and understand the Explanation of Warning Labels in the

DX200 Instructions before operating the manipulator:
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
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

controller
Manipulator cable
Description of the Operation Procedure

In the explanation of the operation procedure, the expression Select
means that the cursor is moved to the object item and the SELECT key is
pressed, or that the item is directly selected by touching the screen.
Registered Trademark
In this manual, names of companies, corporations, or products are
trademarks, registered trademarks, or bland names for each company or
corporation. The indications of (R) and TM are omitted.
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Explanation of Warning Labels
Specification
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.
Note: Taking the maintenance-relevant trainings offered by YASKAWA is
indispensable for replacing the L-axis of the balancer-equipped
manipulator.
Fig. : Warning Label Locations
Nameplate
(On the manipulator manufactured after June 2014)
WARNING Label C
Nameplate
(On the manipulator
manufactured by May 2014)
WARNING Label A
WARNING Label B
WARNING Label B
WARNING Label C
Nameplate:
WARNING Label A:
WARNING
MODEL
MOTOMANTYPE
kg
ORDER NO.
Moving parts
may cause
injury.
MASS
PAYLOAD
kg
DATE
SERIAL NO.
YASKAWA ELECTRIC CORPORATION
2-1 Kurosakishiroishi, Yahatanishi-ku,
Kitakyushu 806-0004 Japan
MADE IN JAPAN
NJ3878
WARNING Label B:
DANGER
Do not remove the motor, and do not
release the brake. Failure to observe
this caution may result in injury from
unexpected turning of the manipulator arm.
Please contact your Yaskawa representive.
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WARNING
Do not enter
robot
work area.
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Safeguarding Tips
Specification
Safeguarding Tips
All operators, programmers, maintenance personnel, supervisors, and
anyone working near the system must become familiar with the operation
of this equipment. All personnel involved with the operation of the
equipment must understand potential dangers of operation. General
safeguarding tips are as follows:
Improper operation can result in personal injury and/or damage to
the equipment. Only trained personnel familiar with the operation of
this equipment, the operator's manuals, the system equipment, and
options and accessories should be permitted to operate this
equipment.
Improper connections can damage the equipment. All connections
must be made within the standard voltage and current ratings of the
equipment.
The system must be placed in Emergency Stop (E-Stop) mode
whenever it is not in use.
In accordance with ANSI/RIA R15.06-2012, section 4.2.5, Sources of
Energy, use lockout/tagout procedures during equipment
maintenance. Refer also to Section 1910.147 (29CFR, Part 1910),
Occupational Safety and Health Standards for General Industry
(OSHA).
Mechanical Safety Devices

The safe operation of this equipment is ultimately the users responsibility.
The conditions under which the equipment will be operated safely should
be reviewed by the user. The user must be aware of the various national
codes, ANSI/RIA R15.06-2012 safety standards, and other local codes
that may pertain to the installation and use of this equipment.
Additional safety measures for personnel and equipment may be required
depending on system installation, operation, and/or location. The following
safety equipment is provided as standard:
Safety barriers
Door interlocks
Emergency stop palm buttons located on operator station
Check all safety equipment frequently for proper operation. Repair or
replace any non-functioning safety equipment immediately.
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Programming, Operation, and Maintenance Safety
Programming, Operation, and Maintenance Safety

All operators, programmers, maintenance personnel, supervisors, and
anyone working near the system must become familiar with the operation
of this equipment. Improper operation can result in personal injury and/or
damage to the equipment. Only trained personnel familiar with the
operation, manuals, electrical design, and equipment interconnections of
this equipment should be permitted to program, or maintain the system.
All personnel involved with the operation of the equipment must
understand potential dangers of operation.
Inspect the equipment to be sure no potentially hazardous conditions
exist. Be sure the area is clean and free of water, oil, debris, etc.
Be sure that all safeguards are in place. Check all safety equipment
for proper operation. Repair or replace any non-functioning safety
equipment immediately.
Check the E-Stop button on the operator station for proper operation
before programming. The equipment must be placed in Emergency
Stop (E-Stop) mode whenever it is not in use.
Back up all programs and jobs onto suitable media before program
changes are made. To avoid loss of information, programs, or jobs, a
backup must always be made before any service procedures are
done and before any changes are made to options, accessories, or
equipment.
Any modifications to the controller unit can cause severe personal
injury or death, as well as damage to the robot! Do not make any
modifications to the controller unit. Making any changes without the
written permission from YASKAWA will void the warranty.
Some operations require a standard passwords and some require
special passwords.
The equipment allows modifications of the software for maximum
performance. Care must be taken when making these modifications.
All modifications made to the software will change the way the
equipment operates and can cause severe personal injury or death,
as well as damage parts of the system. Double check all
modifications under every mode of operation to ensure that the
changes have not created hazards or dangerous situations.
This equipment has multiple sources of electrical supply. Electrical
interconnections are made between the controller and other
equipment. Disconnect and lockout/tagout all electrical circuits
before making any modifications or connections.
Do not perform any maintenance procedures before reading and
understanding the proper procedures in the appropriate manual.
Use proper replacement parts.
Improper connections can damage the equipment. All connections
must be made within the standard voltage and current ratings of the
equipment.
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Maintenance Safety
Maintenance Safety
Turn the power OFF and disconnect and lockout/tagout all electrical
circuits before making any modifications or connections.
Perform only the maintenance described in this manual. Maintenance
other than specified in this manual should be performed only by
YASKAWA-trained, qualified personnel.
Summary of Warning Information

This manual is provided to help users establish safe conditions for
operating the equipment. Specific considerations and precautions are also
described in the manual, but appear in the form of Dangers, Warnings,
Cautions, and Notes.
It is important that users operate the equipment in accordance with this
instruction manual and any additional information which may be provided
by YASKAWA. Address any questions regarding the safe and proper
operation of the equipment to YASKAWA Customer Support.
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Customer Support Information
Customer Support Information

If you need assistance with any aspect of your MS165/MH180 Standard
Specification system, please contact YASKAWA Customer Support at the
following 24-hour telephone number:
(937) 847-3200
For routine technical inquiries, you can also contact YASKAWA Customer
Support at the following e-mail address:
techsupport@motoman.com
When using e-mail to contact YASKAWA Customer Support, please

provide a detailed description of your issue, along with complete contact
information. Please allow approximately 24 to 36 hours for a response to
your inquiry.
NOTE
Please use e-mail for routine inquiries only. If you have an

urgent or emergency need for service, replacement parts,
or information, you must contact YASKAWA Customer
Support at the telephone number shown above.
Please have the following information ready before you call Customer
Support:
System
Specification
Primary Application
___________________________
Controller
DX200
Software Version
Access this information on the

Programming Pendants LCD
display screen by selecting {MAIN
MENU} - {SYSTEM INFO} {VERSION}
Robot Serial Number
Located on the robot data plate
Robot Sales Order Number
Located on the DX200 controller

data plate
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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 .............................................................................................................. 2-2
2.1.1 Using a Crane ...................................................................................................... 2-2
2.2 Shipping Bolts and Brackets.............................................................................................. 2-3
2.3 Cushioning Material for Transport ..................................................................................... 2-3
3 Installation....................................................................................................................................... 3-1
3.1 Safeguarding Installation ................................................................................................... 3-2
3.2 Mounting Procedures for Manipulator Base ...................................................................... 3-2
3.2.1 Mounting Example................................................................................................ 3-4
3.3 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 DX200 ..................................................................................... 4-2
5 Basic Specifications ........................................................................................................................ 5-1
5.1 Basic Specifications........................................................................................................... 5-1
5.2 Part Names and Working Axes.......................................................................................... 5-2
5.3 Manipulator Base Dimensions ........................................................................................... 5-2
5.4 Dimensions and P-Point Maximum Envelope.................................................................... 5-3
5.5 Stopping Angles and Times for S-, L- and U-Axes ............................................................ 5-4
5.5.1 Stop Category 0: Stopping Angles and Times...................................................... 5-4
5.5.1.1 Position 100% ......................................................................................... 5-4
5.5.1.2 Position 66% ........................................................................................... 5-5
5.5.1.3 Position 33% ........................................................................................... 5-6
5.5.2 Stop Category 1: Stopping Angles and Times...................................................... 5-7
5.5.2.1 Position100% .......................................................................................... 5-7
5.5.2.2 Position 66% ........................................................................................... 5-8
5.5.2.3 Position 33% ........................................................................................... 5-9
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Table of Contents
5.6 Alterable Operating Range .............................................................................................. 5-10

5.6.1 Components for Altering Operating Range......................................................... 5-11
5.6.2 Notes on the Mechanical Stopper Installation .................................................... 5-12
5.6.3 Adjustment to the Pulse Limitation of S-Axis ...................................................... 5-12
6 Allowable Load for Wrist Axis and Wrist Flange ............................................................................. 6-1
6.1 Allowable Wrist Load ......................................................................................................... 6-1
6.2 Wrist Flange....................................................................................................................... 6-2
7 System Application.......................................................................................................................... 7-1
7.1 Peripheral Equipment Mounts............................................................................................ 7-1
7.2 Internal User I/O Wiring Harness and Air Line................................................................... 7-2
8 Electrical Equipment Specification .................................................................................................. 8-1
8.1 Position of Limit Switch ...................................................................................................... 8-1
8.1.1 Specification of Limit Switch ................................................................................. 8-1
8.1.2 Position of Limit Switch......................................................................................... 8-1
8.1.3 Setting of Operation Range .................................................................................. 8-2
8.1.3.1 S-Axis Operation Range.......................................................................... 8-2
8.1.3.2 L-Axis Operation Range .......................................................................... 8-2
8.1.3.3 Setting Range of L-, U-Axes Interference Angle ..................................... 8-2
8.2 Internal Connections .......................................................................................................... 8-4
9 Maintenance and Inspection ........................................................................................................... 9-1
9.1 Inspection Schedule........................................................................................................... 9-1
9.2 Battery Pack Replacement ................................................................................................ 9-5
9.3 Grease Exchange .............................................................................................................. 9-7
9.3.1 Notes on Grease Exchange Procedures .............................................................. 9-7
9.3.2 List of Necessary Items ........................................................................................ 9-8
9.3.3 Grease Exchange ................................................................................................. 9-9
9.3.3.1 Grease Exchange for S-, L-, U-, R-, B-, and T-Axes Speed Reducer ..... 9-9
9.3.4 Grease Replenishment for Gas Balancer Link Part............................................ 9-14
9.4 Gas Maintenance Procedure in the Gas Balancer........................................................... 9-15
9.4.1 Notes on Gas Maintenance Procedure in the Gas Balancer .............................. 9-15
9.4.2 Gas Pressure Inspection .................................................................................... 9-16
9.4.2.1 Adequate Gas Pressure ........................................................................ 9-16
9.4.2.2 Necessary Device.................................................................................. 9-16
9.4.2.3 Inspection Procedures........................................................................... 9-17
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Table of Contents
9.4.3 Gas Discharging Procedure ............................................................................... 9-19

9.4.3.1 Necessary Devices................................................................................ 9-19
9.4.3.2 Gas Discharging Procedures ................................................................ 9-19
9.4.4 Gas Injecting Procedure ..................................................................................... 9-21
9.4.4.1 Necessary Devices................................................................................ 9-21
9.4.4.2 Gas Injecting Procedures ...................................................................... 9-21
9.5 Notes for Maintenance..................................................................................................... 9-23
9.5.1 Battery Pack Connection .................................................................................... 9-23
10 Recommended Spare Parts........................................................................................................ 10-1
11 Parts List ..................................................................................................................................... 11-1
11.1 S-Axis Unit ..................................................................................................................... 11-1
11.2 L-Axis Unit ..................................................................................................................... 11-3
11.3 U-, R-, B-, T-Axes Unit................................................................................................... 11-6
11.4 U-Arm Unit ..................................................................................................................... 11-8
11.5 Wrist Unit ..................................................................................................................... 11-10
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1
Product Confirmation
1.1 Contents Confirmation
CAUTION
Confirm that the manipulator and the DX200 have the same order
number. Special care must be taken when more than one
manipulator is to be installed.
If the numbers do not match, manipulators may not perform as

expected and cause injury or damage.
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 are given separately):
Manipulator
DX200
Programming pendant
Manipulator cables
(2 cables between the DX200 and the Manipulator)
1-1
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1.2
1
1.2 Order Number Confirmation
Order Number Confirmation

Check that the order number of the manipulator corresponds to the
DX200. The order number is located on a label as shown below.
Fig. 1-1: Location of Order Number Labels

Label (Enlarged View)
THE MANIPULATOR AND THE CONTROLLER

SHOULD HAVE SAME ORDER NUMBER.
Check that the manipulator

and the DX200 have the
same order number.
ORDER NO.
ORDER.NO.
THE MANIPULATOR AND THE CONTROLLER
SHOULD HAVE SAME ORDER NUMBER.
View A (Enlarged View)

(a) DX200 (Front View)
(b) Manipulator (Top View)

(On the manipulator manufatctured after Feb. 2016)
(b) Manipulator (Side View)

(On the manipulator manufactured by Jan. 2016)
1-2
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Transport
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 performances.
2-1
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2
Transport
2.1 Transport Method
Specification
2.1
Transport Method
The weight of the manipulator is approximately 1070 kg
including the shipping bolts and brackets. Use a wire rope
strong enough to withstand the weight.
NOTE
Shipping bolts and brackets are designed to support the

manipulator weight. Do not use them for anything other
than transporting the manipulator.
Mount the shipping bolts and brackets for transporting the
manipulator.
Avoid putting external force on the arm or motor unit when
transporting by a crane, forklift, or other equipment.
Failure to observe this instruction may result in injury.
2.1.1
Using a Crane
As a rule, the manipulator should be lifted by a crane with four 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.
Fig. 2-1: Transporting Position
Shipping bolts and bracket (4 pieces)

(Fixed to the manipulator
before shipment.)
B
Hexagon head screw M20
(length:70) (8 screws)
(Fixed to the manipulator before shipment.)
Factory setting for angle and pulse of each axis

Axis
Angle
Pulse
S
0
0
L
-60
-183758
U
-86
-217225
R
0
0
2-2
B
+116
286142
T
0
0
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2.2
2
Transport
2.2 Shipping Bolts and Brackets
Shipping Bolts and Brackets

The manipulator is provided with shipping bolts and brackets.
(Fig. 2-2 Shipping Bolts and Brackets).
Fig. 2-2: Shipping Bolts and Brackets
Hook
4xR20
87
176
Side view
Front view
The shipping brackets are painted in yellow.
NOTE
2.3
If operating the manipulator with shipping bolts and

brackets attached, the shipping bolts and brackets interfere
with the manipulator and that may cause a damage to the
manipulator. Make sure to remove the shipping bolts and
brackets before operation.
Cushioning Material for Transport

The manipulator is provided with the cushioning materials for transport at
section A and B. (See Fig. 2-3 Cushioning Materials for Transport.)
Fig. 2-3: Cushioning Materials for Transport
Casing
L-arm
U-arm
A
L-arm
B
S-head mechanical stopper
A rubber cushion is respectively wedged at the section A and B.
NOTE
Before turning ON the power, check to be sure that the

cushioning materials for transport are removed.
In the event that the manipulator must be moved again, to
avoid its main body from being damaged, the cushioning
materials such as rubber plate, etc. must be used.
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Installation
Installation
WARNING
Install the safeguarding.
Failure to observe this warning may result in injury or damage.
Install the manipulator in a location where the tool or the workpiece

held by its fully extended arm will not reach the wall, safeguarding,
or controller.
Failure to observe this warning may result in injury or damage.
Do not start the manipulator or even turn ON the power before it is

firmly anchored.
The manipulator may overturn and cause injury or damage.
CAUTION
Do not install or operate 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 are removed.
Failure to observe this caution may result in damage to the driving

parts.
3-1
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3
Installation
3.1 Safeguarding Installation
Specification
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.
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 0.5mm or less: insufficient flatness of
installation surface may deform the manipulator shape and affect its
functional abilities. Mount the manipulator base as instructed in section
3.2.1 Mounting Example.
Table 3-1: Manipulator Reaction Force and Torque

Horizontal rotation
Emergency stop
Vertical rotation
Reaction force FH
Torque MH
Reaction force FV
Torque MV
24000N
(2500kgf)
37630Nm
(3840kgfm)
15680N
(1600kgf)
49000Nm
(5000kgfm)
9400Nm
(960kgfm)
4900N
(500kgf)
22050Nm
(2250kgfm)
Acceleration/deceleration 6370N
(650kgf)
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3
Installation
3.2 Mounting Procedures for Manipulator Base
Fig. 3-1: Manipulator Reaction Force and Torque
MV
FV
MH
FH
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3.2.1
3
Installation
3.2 Mounting Procedures for Manipulator Base
Mounting Example
For the first process, anchor the baseplate firmly to the ground. The
baseplate should be rugged and durable to prevent shifting of the
manipulator or the mounting fixture. It is recommend to prepare a
baseplate of 50mm or more thick, and anchor bolts of M20 or larger size.
The manipulator base is tapped for eight mounting holes; securely fix the
manipulator base to the baseplate with eight hexagon socket head cap
screws M20 (80mm long is recommended). 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 M20 (8 screws)
Spring washer
Washer
Manipulator base
40
Specification
Baseplate
Flatness: 0.5mm or less
Units: mm
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3.3
3
Installation
3.3 Location
Location
When installing a manipulator, it is necessary to satisfy the following
environmental conditions:
Ambient temperature: 0 to + 45C
Humidity: 20 to 80%RH (no-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
4.1 Grounding
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.
Do not cover the cable or allow it to tangle. Keep the cable as

straight as possible.
Failure to observe this caution may result in preventing heat of the

cable from being discharged.
4.1
Grounding
Follow electrical installation standards and wiring regulations for
grounding. A ground wire of 5.5mm2 or more is recommended.
Refer to Fig. 4-1 Grounding Method to connect the ground line directly to
the manipulator.
NOTE
Never use this line sharing with other ground lines or

grounding electrodes for other electric power, motor
power, welding devices, etc.
Where metal ducts, metallic conduits, or distributing racks
are used for cable laying, ground in accordance with
electrical installation standards.
Fig. 4-1: Grounding Method

A
5.5mm2 or more
Bolt M8 (for grounding)

Delivered with manipulator
View A
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4.2
4
Wiring
4.2 Cable Connection
Cable Connection
Two manipulator cables are delivered with the manipulator; an encoder
cable for detection (1BC) and power cable (2BC).
(Refer to Fig. 4-2 Manipulator Cables.)
Connect these cables to the manipulator base connectors and to the
DX200. Refer to Fig. 4-3(a) Manipulator Cable Connectors (Manipulator
Side) and Fig. 4-3(b) Manipulator Cable Connection (DX200 Side).
4.2.1
Connection to the Manipulator

Before connecting three 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, then1 BC. After inserting the cables, depress the lever until it clicks.
Connection to the DX200
Before connecting cables to the DX200, verify the numbers on both
manipulator cables and the connectors on the DX200. When connecting,
insert the cables in the order of X21, then X11 and depress each lever low
until it clicks.
Fig. 4-2: Manipulator Cables
The DX200 Side
The Manipulator Side
X11
1BC
X11
1BC
1BC
Encoder Cable
The DX200 Side
The Manipulator Side
+:
%&
4.2.2
;
X21
2BC
2BC
Power Cable
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4
Wiring
4.2 Cable Connection
Fig. 4-3(a): Manipulator Cable Connectors (Manipulator Side)
Key positions
Key positions
Connector Details
(Manipulator Side)
Fig. 4-3(b): Manipulator Cable Connection (DX200 Side)
X11
X21
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5
Basic Specifications
5.1 Basic Specifications
Specification
5.1
Table 5-1: Basic Specifications1)

Item
Model
MOTOMAN-MH180
Structure
Vertically Articulated
Degree of Freedom
Payload
180kg
Repeatability2)
Range of Motion
Maximum Speed
Allowable
Moment3)
Allowable Inertia
(GD2/4)
0.2mm
S-Axis (turning)
-180 - +180
L-Axis (lower arm)
-60 - +76
U-Axis (upper arm)
-147 - +90
R-Axis (wrist roll)
-360 - +360
B-Axis (wrist pitch/yaw)
-130 - +130
T-Axis (wrist twist)
-360 - +360
S-Axis
2.18rad/s, 125/s
L-Axis
2.01rad/s, 115/s
U-Axis
2.18rad/s, 125/s
R-Axis
3.18rad/s, 182/s
B-Axis
3.05rad/s, 175/s
T-Axis
4.63rad/s, 265/s
R-Axis
1000Nm (102kgfm)
B-Axis
1000Nm (102kgfm)
T-Axis
618Nm (63kgfm)
R-Axis
90kgm2
B-Axis
90kgm2
T-Axis
46.3kgm2
Approx. Mass
970kg
Protective Structure
Ambient Conditions
Basic axis: IP54 or equivalent

Wrist axis only: IP67 or equivalent
Temperature
0C to 45C
Humidity
20 to 80% RH (non-condensing)
4.9m/s2 or less (0.5G)
Vibration Acceleration
Others
Free from corrosive gasses or liquids, or explosive gasses

Free from exposure to water, oil, or dust
Free from excessive electrical noise (plasma)
Power Requirements
5.0kVA
Noise4)
1
2
3
4
76dB
SI units are used in this table. However, gravitational unit is used in ( ).

Conformed to ISO9283
Refer to section 6.1 Allowable Wrist Load for details on the permissible moment of inertia.
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
5
5.2 Part Names and Working Axes
Part Names and Working Axes

Fig. 5-1: Part Names and Working Axes
8
8
/
5
%
7
5
%
7
/
6
6
5.3
Manipulator Base Dimensions
Fig. 5-2: Manipulator Base Dimensions

20
+0.021
0 dia.
(2 reamed holes)
(Pin hole for manipulator

positioning)
500
2300.1
22 dia. (8 through holes)

(For fixing the manipulator)
295 0.1
Units: mm
185 0.1
320
420
500
40
230 0.1
185 0.1
420
250 0.1
Fitting surface
745
Fitting surface
View A
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5.4 Dimensions and P-Point Maximum Envelope
Specification
5.4
Dimensions and P-Point Maximum Envelope
Fig. 5-3: Dimensions and P-Point Maximum Envelope
276
180
R71
R5
15
180
R2702
View A
A
3673
970
2702
3061
P-point maximum
envelope
(290)
225
1225
300 153
325
P-point
1150
60
76
1
41
957
650
33
598
40
9
0
276
349
1441
562
577
710
713
761
332
970
2450
R2
2253
344
220
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5.5 Stopping Angles and Times for S-, L- and U-Axes
Specification
5.5
Stopping Angles and Times for S-, L- and U-Axes

Following data on stopping angle and time for each axis measured under
the standard of ISO10218.
5.5.1
5.5.1.1
Stop Category 0: Stopping Angles and Times
Position 100%
Fig. 5-4: Stop Category 0, Position 100% : Stopping Angle and Time for Each Axis
(a)S-Axis
Stop Category 0, Position 100%
(b)L-Axis
(c)U-Axis
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5.5.1.2
5
Position 66%
(a)S-Axis
(b)L-Axis
(c)U-Axis
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5.5.1.3
5
Position 33%
(a)S-Axis
(b)L-Axis
(c)U-Axis
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5
Specification
5.5.2
Stop Category 1: Stopping Angles and Times
Stopping angles and times at Stop category 1 are not

subjected to the load of the manipulator.
NOTE
5.5.2.1
Position100%
Fig. 5-7: Stop Category 1: Position 100% Stopping Angle and Time for Each Axis
(a)S-Axis
Notes) Not depends on the load.

(b)L-Axis

(c)U-Axis
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5.5.2.2
5
Position 66%
(a)S-Axis

(b)L-Axis

(c)U-Axis
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Specification
5.5.2.3
Position 33%
(a)S-Axis

(b)L-Axis
1.0
40
0.9
35
Stopping time[sec]
Stopping angle[deg]
0.8
30
25
20
15
10
0.6
0.5
0.4
0.3
0.2
5
00
0.7
0.1
0.0
20
40
60
100
80
120
20
40
60
80
100
120
Speed[deg/s]
Speed[deg/s]

(c)U-Axis
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5.6
5
5.6 Alterable Operating Range
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
-180 - +180 (standard)

-150 - +150
-120 - +120
-90 - +90
-60 - +60
-30 - +30
* The interval between stoppers must be 60 or more.
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5.6.1
5
Components for Altering Operating Range
Arrange the components listed in Fig. 5-10 The Components of the SAxis Stopper, when modifying the angle of S-axis.
(1) Pin (drawing No. HW0402104-1) (1 pin)
(2) Stopper (drawing No. HW1405450-1) (1 stopper)
(3) Hexagon socket head cap screw M16
(length: 35mm) (4 screws)
(Tensile strength: 1200N/mm2 or more)
(4) Conical spring washer 2H-16 (4 washers)
Fig. 5-10: The Components of the S-Axis Stopper
Hexagon socket head cap screw M16
(length: 35) (4 screws)
(tensile strength: 1200 N/mm2 or more)
Conical spring washer 2H-16 (4 washers)
Stopper
HW1405450-1
Section A-A
Pin
HW0402104-1
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5.6.2
5
Notes on the Mechanical Stopper Installation
For S-Axis mechanical stopper, install the stopper (drawing No.
HW1405450-1) with the pin which is used bottom up (drawing No.
HW0402104-1) as in Fig. 5-10 The Components of the S-Axis Stopper.
DO NOT forget to apply Locktite 243 to the thread part of the pin before
inserting it into the stopper.
Mount the stopper to the S-head with four hexagon socket head cap
screws M16 (length: 35mm) and tighten the screws with the tightening
torque of 348Nm (tensile strength: 1200N/mm2 or more). The stopper is
to be installed as shown in the Fig. 5-10 when the operating range is
180.
The stopper can be installed by every 15 degree pitch, however, to avoid
the mechanical troubles caused by interference between stoppers (e.g.
15, 165), install the S-axis mechanical stopper referring to Table 5-3
The Settable Angle for S-Axis Stopper.
NOTE
1. Apply the specified components when mounting the SAxis mechanical stopper.
2. TURN OFF the electric power supply before mounting.
5.6.3
Adjustment to the Pulse Limitation of S-Axis

Apply the Instruction for DX200 INSTRUCTIONS section 8.17 Changing
the Parameter Setting (165292-1CD) as a part of reference materials for
adjusting the programming pendant when modifying the range of motion
of S-Axis.
The limitation to the pulse (Pulse Soft Limit + 1st Axis) : SICxG400
The limitation to the pulse (Pulse Soft Limit - 1st Axis) : SICxG408
Degree
(15)
30
45
60
75
90
Number of
Pulse
28672
57344
86016
114688
143360
172032
105
120
135
150
(165)
180
200704
229376
258048
286720
315392
344064
Degree
Number of
Pulse
* Refer to section 5.6 Alterable Operating Range.
NOTE
Adjust both of the pulse limitation and the angle of S-Axis

mechanical stopper as modifying the range of motion for
machinery.
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The Angle of S-Axis Stopper for - Direction
Settable angle
Non settable angle
"Table 5-3 The Settable Angle for S-Axis Stopper" indicates the angle range
which allows S-axis to be set for + direction and - direction angles.
Specification
The Angle of S-Axis Stopper for + Direction
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5
Table 5-3: The Settable Angle for S-Axis Stopper
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5
Fig. 5-11(a): The Properly-Mounted Models for S-Axis Stopper
Hexagon socket head

cap screw fixing positions
Installation at 180
Hexagon socket head

Installation at 165
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5
Fig. 5-11(b): The Properly-Mounted Models for S-Axis Stopper
Hexagon socket head
Installation at 150
Hexagon socket head

Installation at 135
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5
Fig. 5-11(c): The Properly-Mounted Models for S-Axis Stopper
Hexagon socket head

Installation at 120
Hexagon socket head

Installation at 105
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5
Fig. 5-11(d): The Properly-Mounted Models for S-Axis Stopper
Hexagon socket head
Installation at 90
Hexagon socket head

Installation at 75
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5
Fig. 5-11(e): The Properly-Mounted Models for S-Axis Stopper
Hexagon socket head

Installation at 60
Hexagon socket head

Installation at 45
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5
Fig. 5-11(f): The Properly-Mounted Models for S-Axis Stopper
Hexagon socket head

Installation at 30
Hexagon socket head

Installation at 15
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5
Fig. 5-11(g): The Properly-Mounted Models for S-Axis Stopper
Hexagon socket head
Installation at 0
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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 including the weight of the mount/gripper is
180kg 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 Nm (kgfm)1)
GD2/4 Total Moment of Inertia kgm2
R-Axis
1000 (102)
90
B-Axis
1000 (102)
90
T-Axis
618 (63)
46.3
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 moment of inertia, or load moment is small and moment of inertia is
large. Also, when the load mass is combined with an outside force,
contact your YASKAWA representative beforehand.
Fig. 6-1: Moment Arm Rating
LT(mm)
1200
40kg
1000
60kg
800
80kg
100kg
600
130kg
165kg
400
P-point
200
R-, T-axis
center of rotation
180kg
400 600 800 10001200 1400 1600 LB(mm)

200
400
600
800
1000
1200
LT(mm)
B-axis center of rotation
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6.2
6
6.2 Wrist Flange
Wrist Flange
The wrist flange dimensions are shown in Fig. 6-2 Wrist Flange. In order
to see the alignment mark, it is recommended that the attachment be
mounted inside the fitting. Fitting depth of inside and outside must be
8mm or less.
Fig. 6-2: Wrist Flange
+0.015
10
0 dia.
(2 holes) (depth: 8 mm)
+0.015
9
0 dia.
(2 holes) (depth: 8 mm)
0
-0.025
dia.
92
160
125
dia.
M10 (6 holes) (depth: 14mm)

M10 (6 holes) (depth: 14mm)
+0.030
0
63
30
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
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 user's system applications.
The following conditions shall be observed to attach or install peripheral
equipment. (Refer to Table 7-1 Conditions for Installation.)
Fig. 7-1: Installing Peripheral Equipment

344
255
40
A3 Tapped hole M8
(4 holes) (depth: 14mm)
92
A3 Tapped hole M5
60
45
A3 Tapped hole M6
(2holes) (depth: 11mm)
40
27.5
12.5
195
220
120
255
220
92
60
270
B Tapped hole M12

220
50
170
45
170
234
20
45
170 170
50
305
A2 Tapped hole M8
163
270
234
45
305
45
25
20
170
234
220
25
20
50
A2 Tapped hole M6
305
305
B Tapped hole M20

20
50
163
344
12.5
195
27.5
120
45
A1 Tapped hole M8
170
234
B Tapped hole M20

170 170
234 234
234 234
Table 7-1: Conditions for Installation

Application
Note
A1,
A2, 3
Cable processing
flange and valve,
etc.
30kg max.
49Nm (5kgfm) max. for moment increase
amount of upper arm
Others
250kg max.
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7.2
7
System Application
7.2 Internal User I/O Wiring Harness and Air Line
Internal User I/O Wiring Harness and Air Line

The internal user I/O wires (0.75mm2 x 11 wires, 0.5mm2 x 12 wires), the
cables for the external axis (2.0mm2 x 4 cables, 0.75mm2 x 2 cables,
0.2 mm2 x 6 cables), and an air line are used in the manipulator for the
drives of the peripheral devices mounted on the upper arm as shown in
Fig. 7-2 Connectors for Internal User I/O Wiring Harness and Air Line.
The connector pins, and the terminals are assigned as shown in Fig. 7-2
and Fig. 7-3 Details of the Connector Pin Numbers. Wiring must be
performed by user.
The allowable current for internal user

I/O wiring harness
16.1A or less / wire. (2.0mm2)

The maximum pressure for the air line 490kPa (5kgf/cm2) or less
(The air line inside diameter: 8.0mm)
Fig. 7-2: Connectors for Internal User I/O Wiring Harness and Air Line
Key positions
Exhaust port (air flow)

Tapped holes PT3/8 with pipe plug
Connector for the external axis
(Power cable):
JL05-2A18-1SC (socket connector with cap).
Prepare pin connector: JL05-6A18-1P.
Connector for internal user

I/O wiring harness (Base):
JL05-2A24-28PC (pin connector with cap).
Prepare socket connector: JL05-6A24-28S.
Connector for the external axis (Encoder cable):

JL05-2A20-29SC(socket connector with cap).
Air inlet (air flow)

Tapped holes PT3/8
with pipe plug
Connector for internal

I/O wiring harness (Casing):
JL05-2A24-28SC (socket connector with cap).
View A
A
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7
System Application
7.2 Internal User I/O Wiring Harness and Air Line
Fig. 7-3: Details of the Connector Pin Numbers
Pins used
0.5mm
(6 pins)
P
P
0.5mm2
(6 pins)
1
2
9
10
11
12
15
0.2mm2
(6 pins)
Shielded wire

Pins used
0.75mm2
(11 pins)
Pin details for external axis encoder cable
2.0mm2
(4 pins)
Pins used
Pin details for internal user I/O wiring harness
0.75mm2
(2 pins)
Shielded wire
Pin details for external axis power cable
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8
Electrical Equipment Specification
8.1 Position of Limit Switch

8.1
Position of Limit Switch
8.1.1
Specification of Limit Switch

1. The interference limit switch at S-, L- and U-axes electrically limit the
operating range of respective axes by adjusting the position of the dog
using the limit switch.
The positions of the mechanical limits (mechanical stoppers) at S-, Land U-axes are changeable.
When the limit switch is activated, the power supply to the manipulator
is interrupted, then the manipulator makes an emergency stop as a
result. Refer to DX200 INSTRUCTIONS section 8.9 Overrun/Tool
Shock Sensor Releasing (165292-1CD) for releasing the status of this
overrun.
2. The range of S-, L- and U-axes limit switches are set to the maximum
operating range before shipping.
NOTE
8.1.2
In case of re-adjusting the operating range of each subject

axis, it is also required to change the dog location and limit
values in software. Contact your YASKAWA representative
if re-adjustment is required.
Position of Limit Switch

The limit switches are optional. For the S, L, and U-Axes with limit
switches specifications, L.S. are located on S-Axis, L-Axis, and U-Axis
respectively.
For the location, refer to Fig. 8-1 Location of Limit Switches. The
inspection and adjustment of the limit switches should be made after
removing the cover.
Fig. 8-1: Location of Limit Switches
U-axis interference
limit switch
S-axis overrun
limit switch
L-axis overrun limit switch
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8.1.3
8.1.3.1
8
Setting of Operation Range
S-Axis Operation Range
By the S-axis limit switch, S-axis operation range can be set to those
ranges mentioned in Table 5-2 S-Axis Operating Range.
8.1.3.2
L-Axis Operation Range

By the L-axis limit switch, the L-axis operation range can be set to any
angles within -61 to +77 as mentioned in the figure below.
Fig. 8-2: L-Axis Overrun Limit Switch Setting Range
Negative side
-61
8.1.3.3
Positive side
+7
Setting Range of L-, U-Axes Interference Angle

L- and U-axes interference limit switches are designed to check the
interference angle of L- and U-axes.
As shown in Fig. 8-3 LU-Axes Interference Angle, the operation range of
U-axis can be set to any angles within -87 to +91 as the interference
angle with L-axis.
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Fig. 8-3: LU-Axes Interference Angle
+9
1
7
Positive side
-8
Specification
Negative side
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8.2 Internal Connections
Specification
8.2
Internal Connections
Highly reliable connectors are equipped on each connection part of the
manipulator to enable easy removal and installation for maintenance and
inspection. For the number and location of connectors, see Fig. 8-4
Locations and Numbers of Connectors.
Diagrams for Internal connections of the manipulator are shown in
Fig. 8-5(a) Internal Connection Diagram and Fig. 8-5(b) Internal
Connection Diagram.
Fig. 8-4: Locations and Numbers of Connectors
Connector for external axis

(Power cable)

(Encoder cable)
Connector for internal user

I/O wiring harness
Connector for
internal user I/O
wiring harness
(Base)
1BC
2BC
Table 8-1: List of Connector Types

Name
Type of Connector
Connector Base

user I/O wiring harness
JL05-2A24-28PC
(JL05-6A24-28S: Optional)
U-arm

user I/O wiring harness
JL05-2A24-28SC
(JL05-6A24-28P: Optional)

(Encoder cable)
JL05-2A20-29SC

(Power cable)
JL05-2A18-1SC
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MS165/MH180
Standard Specification
8 Electrical Equipment Specification

Fig. 8-5(a): Internal Connection Diagram
0BT
K R P BAT
0BT
K R P BAT
Notes
For the limit switch specification, the connection of the section
A and B parts are changed as follows:
0BT
K R P BAT
0BT
K R P BAT
17
18
19
20
21
22
23
24
25
26
27
28
29
30
31
32
1
2
3
4
5
6
7
8
9
10
11
12
13
14
15
16
0BAT11
BAT11
0BAT12
BAT12
1
2
3
4
0BAT21
BAT21
0BAT22
BAT22
5
6
7
8
1
2
3
4
5
6
7
8
1BC(10P4)
1BC
DX200
CN1-5
CN1-4
+24V
0V
No.22CN
X
+24V
-1
0V
-3
1
3
+24V
0V
CN1-10
CN1-9
+24V
0V
-2
-4
2
4
SPG+1
SPG-1
CN1-1
CN1-2
SPG+1
SPG-1
CN1-5
CN1-4
+24V
0V
CN1-10
CN1-9
CN1-1
CN1-2
CN1-3
CN1-3
FG1
+24V
0V
0BAT1
BAT1
0BAT2
BAT2
0BAT3
BAT3
LA1
LB1
0BAT4
BAT4
0BAT5
BAT5
0BAT6
BAT6
0BAT7
BAT7
PG0V1
PG5V1
PG0V2
PG5V2
PG0V3
PG5V3
PG0V4
PG5V4
PG0V5
PG5V5
PG0V6
PG5V6
PG0V7
PG5V7
SPG+2
SPG-2
No.16CN
S
-1
BAT1
-2
0BAT1
-3
PG5V1
PG0V1
-4
SPG+2
SPG-2
CN1-8
FG2
CN1-8
FG2
CN2-1
CN2-2
SPG+3
SPG-3
CN2-1
CN2-2
SPG+3
SPG-3
CN2-3
FG3
CN2-3
FG3
CN2-6
CN2-7
SPG+4
SPG-4
CN2-6
CN2-7
SPG+4
SPG-4
CN2-8
FG4
CN2-8
FG4
CN3-1
CN3-2
SPG+5
SPG-5
CN3-1
CN3-2
SPG+5
SPG-5
CN3-3
FG5
CN3-3
FG5
LB1
LB2
LA2
LB2
LB2
LB1
LA3
LB3
L-AXIS OVERRUN L.S.

connected to A2 part
L AND U-AXIS INTERFERENCE L.S.
connected to A3 part
LC1
S-AXIS OVERRUN L.S. connected to B1 part
LD1
LD1
LD2
LC2
LD2
LD2
LD1
LC3
LD3
L AND U-AXIS INTERFERENCE L.S.

connected to B3 part
SLU-axes with Limit Switch Specification

No.1CN
1CN-1
-2
-6
-5
-4
-9
-10
P
P
P
FG1
CN1-6
CN1-7
S-AXIS OVERRUN L.S. connected to A1 part
LB1
LC1
LD1
DATA+1
DATA-1
BAT
OBT
+5V
0V
FG1
LA1
LB1
PG
No.17CN
L
-1
BAT2
-2
0BAT2
-3
PG5V2
-4
PG0V2
P
P
P
No.18CN
U
-1
BAT3
-2
0BAT3
-3
PG5V3
-4
PG0V3
No.19CN
R
-1
BAT4
-2
0BAT4
-3
PG5V4
-4
PG0V4
P
P
LA1
LB1
LB1
LB2
S-axis
LC1
LD1
OBT
BAT
CN1-6
CN1-7
LA1
LA2
LB2
L-AXIS OVERRUN L.S. connected to A2 part
LC1
LD1
LD1
LD2
LC2
LD2
No.2CN
2CN-1
-2
-6
-5
-4
-9
-10
DATA+2
DATA-2
BAT
OBT
+5V
0V
FG2
OBT
BAT
LA1
LB1
LA1
LB1
No.3CN
3CN-1
-2
-6
-5
-4
-9
-10
DATA+3
DATA-3
BAT
OBT
+5V
0V
FG3
LC1
LD1
LC1
LD1
No.4CN
4CN-1
-2
-6
-5
-4
-9
-10
DATA+4
DATA-4
BAT
OBT
+5V
0V
FG4
No.5CN
5CN-1
-2
-6
-5
-4
-9
-10
DATA+5
DATA-5
BAT
OBT
+5V
0V
FG5
PG
PG
L-axis
U-axis
L-AXIS OVERRUN L.S. connected to B2 part
SL-axes with Limit Switch Specification
S-axis with Limit Switch Specification
OBT
BAT
P
P
PG
R-axis
PG
B-axis
PG
T-axis
OBT
BAT
No.20CN
B
-1
BAT5
-2
0BAT5
-3
PG5V5
-4
PG0V5
P
P
P
OBT
BAT
CN3-6
CN3-7
CN3-8
SPG+6
SPG-6
CN4-2
CN4-7
SPG+6
SPG-6
CN3-8
FG6
CN4-1
CN4-6
CN3-6
CN3-7
No.21CN
T
BAT6
-1
0BAT6
-2
PG5V6
-3
-4
PG0V6
No.6CN
6CN-1
-2
-6
-5
-4
-9
-10
P
P
P
FG6
CN4-1
CN4-6
+24V
LB1
CN4-2
CN4-7
LC1
LD1
LA1
LB1
OBT
BAT
B1
A1
SS2
SS2
SS1
LB1
LB2
LA2
LB2
LD1
LD2
LC2
LD2
LB2
LB1
LA3
LB3
LD2
LD1
CN4-3
CN4-8
BC2
AL2
CN4-10
0V
CN4-4
CN4-5
CN4-9
CN2-4
CN2-5
CN2-9
CN2-10
CN3-4
CN3-5
CN3-9
CN3-10
SPG+7
SPG-7
FG7
P
P
P
0V
5V
0V
5V
P
P
CN4-3
CN4-8
CN4-10
0V
SPG+7
SPG-7
FG7
+24
LD1
P
P
P
+24
0V
5V
0V
5V
No.23CN
7
-2
0BAT7
-1
BAT7
-4
PG0V7
-3
PG5V7
E
E E E E E E E E
S1(24-28)
BASE
MANIPULATOR
CASING
7
8
9
10
11
12
B2
A3
No.7CN(20-29)
1
SPG+7
2
SPG-7
10
0V
9
5V
11
BAT
12
0BAT
15
FG7
E
B3
FOR LAMP (OPTIONAL)
GUN
No.8CN(24-28)
E
1
2
3
4
5
6
A2
LC3
LD3
BC1
BC2
BC2
CN4-4
CN4-5
CN4-9
CN2-4
CN2-5
CN2-9
CN2-10
CN3-4
CN3-5
CN3-9
CN3-10
DATA+6
DATA-6
BAT
OBT
+5V
0V
FG6
P
P
P
P
P
P
1
2
3
4
5
6
SP1
SP2
SP3
SP4
SP5
SP6
7
8
9
10
11
12
SP7
SP8
SP9
SP10
SP11
SP12
13
14
15
16
17
18
19
20
21
22
23
13
14
15
16
17
18
19
20
21
22
23
INTERNAL WIRE
SP13
SP14
SP15
SP16
SP17
SP18
SP19
SP20
SP21
SP22
SP23
AIR
FOR FIELDBUS CABLE TUBE
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8 Electrical Equipment Specification

MS165/MH180
Standard Specification
Fig. 8-5(b): Internal Connection Diagram
2BC
2BC(8PX3+12PX3)
E
E-8
E-7
E-2
E-1
E-6
E-5
E-4
E-3
B-5
B-10
MU1
MU1
MV1
MV1
MW1
MW1
ME1
ME1
BA1
BB1
E-8
E-7
E-2
E-1
E-6
E-5
E-4
E-3
B-5
B-10
MU1
MU1
MV1
MV1
MW1
MW1
ME1
ME1
BA1
BB1
F-8
F-7
F-2
F-1
F-6
F-5
F-4
F-3
B-4
MU2
MU2
MV2
MV2
MW2
MW2
ME2
ME2
BA2
F-8
F-7
F-2
F-1
F-6
F-5
F-4
F-3
B-4
MU2
MU2
MV2
MV2
MW2
MW2
ME2
ME2
BA2
No.10CN
10CN-A
-B
-C
-D
D-8
D-7
D-4
D-3
D-6
D-5
D-2
D-1
B-3
MU3
MU3
MV3
MV3
MW3
MW3
ME3
ME3
BA3
D-8
D-7
D-4
D-3
D-6
D-5
D-2
D-1
B-3
MU3
MU3
MV3
MV3
MW3
MW3
ME3
ME3
BA3
No.11CN
11CN-A
-B
-C
-D
A-6
A-3
A-1
A-5
B-2
B-9
MU4
MV4
MW4
ME4
BA4
BB4
A-6
A-3
A-1
A-5
B-2
B-9
MU4
MV4
MW4
ME4
BA4
BB4
C-11
C-9
C-7
C-8
B-12
MU5
MV5
MW5
ME5
BA5
C-11
C-9
C-7
C-8
B-12
MU5
MV5
MW5
ME5
BA5
C-6
C-4
C-2
C-5
B-11
MU6
MV6
MW6
ME6
BA6
C-6
C-4
C-2
C-5
B-11
MU6
MV6
MW6
ME6
BA6
No.9CN
9CN-A
-B
-C
-D
-1
-2
-1
-2
-1
-2
MU1
MV1
MW1
ME1
BA1
BB1
MU2
MV2
MW2
ME2
BA2
BB2
MU3
MV3
MW3
ME3
BA3
BB3
SM
S-AXIS
YB
SM
L-AXIS
YB
SM
U-AXIS
YB
No.12CN
12CN-A
-B
-C
-D
-1
-2
No.13CN
13CN-A
-B
-C
-D
-1
-2
No.14CN
14CN-A
-B
-C
-D
-1
-2
MU4
MV4
MW4
ME4
SM
BA4
BB4
R-AXIS
YB
MU5
MV5
MW5
ME5
SM
BA5
BB5
B-AXIS
YB
MU6
MV6
MW6
ME6
SM
BA6
BB6
T-AXIS
YB
No15CN(18-1)
E
A-11
A-9
A-2
A-4
B-8
B-7
MU7
MV7
MW7
ME7
BA7
BB7
A-11
A-9
A-2
A-4
B-8
B-7
MU7
MV7
MW7
ME7
BA7
BB7
1
2
3
4
5
6
MU7
MV7
MW7
ME7
BA7
BB7
GUN
PE
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Specification
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 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.
For any different or special applications, the inspection
process should be developed on an case-by-case basis.
NOTE
For axes which are used very frequently (in handling

applications, etc.), it is recommended that inspections be
conducted at shorter intervals. Contact your YASKAWA
representative.
To maintain the sealing performance, small quantity of oil
used may leak from the bottom part of the gas balancer.
9-1
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Alignment mark
2
3
External lead
Working area and manipulator
4
5
6
Motors for L- and U-axes

Baseplate mounting bolts
Cover mounting screws
7
8
9
S-,L-,U-axes motor connector

Connector base
Gas Balancer
10 Wire harness in manipulator

(SLU-axis wires)
(RBT-axis wires)
14 U-axis speed reducer
Check alignment mark accordance at the home position.

Check for damage.
Visual
Check for damage and deterioration of leads.
Visual
Clean the work area if dust or spatter is present. Check for damage and
outside cracks.
Visual
Check for grease leakage.2)
Spanner Wrench Tighten loose bolts. Replace if necessary.
Screwdriver,
Tighten loose bolts. Replace if necessary.
Wrench
Manual
Check for loose connectors and tighten if necessary.
Manual
Check for loose connectors.
Grease Gun
Replenish grease to the gas balancer link part.
See section 9.3.4 .
Specific tools
Inspect the gas pressure in the gas balancer. Discharge, inject the gas
for maintenance See section 9.4.
Check for conduction between the main connector of base and
intermediate connector with manually shaking the wires. Check for
wear of protective spring.3)
Replace4)
Replace the battery pack when the battery alarm occurs or the
manipulator drove for 36000H.
Grease Gun
Check for malfunction. (Replace if necessary.)
Replace grease5) (12000H cycle). See section 9.3.3.1.
Grease Gun
Grease Gun
Service
Company
Licensee
Inspection
Charge
Specified
Personnel
36000H
Battery pack in manipulator
12 S-axis speed reducer,

S-axis gear
13 L-axis speed reducer
24000H
12000H Cycle
6000H Cycle
Visual
Operation
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Method
9
9-2
1000H Cycle
Schedule
Daily
Items1)
Specification
Table 9-1: Inspection Items (Sheet 1 of 2)
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15 R-axis speed reducer
Grease Gun
Service
Company

Licensee
Grease Gun
Inspection
Charge
Specified
Personnel
Operation
36000H
24000H
12000H Cycle
6000H Cycle
Method
9-3
1 Inspection No. correspond to the numbers in Fig. 9-1 Inspection Items.

2 The occurrence of a grease leakage indicates the possibility that grease has seeped into the motor. This can cause a motor breakdown. Contact your YASKAWA representative.
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 9.5 Notes for Maintenance)
4 Wire harness in manipulator to be replaced at 24000 H inspection.
5 For the grease, refer to Table 9-2 Inspection Parts and Grease Used.
Table 9-2: Inspection Parts and Grease Used

No.
Grease Used
Inspected Parts
12, 13, 14, 15, 16 Molywhite RE No. 00
Speed Reducers for all Axes R-, B-, and T-Axes gears
Balancer
Alvania EP Grease 2
9
16 B- and T-axes speed reducer,

B- and T-axes gear
17 Overhaul
1000H Cycle
Daily
Schedule
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Items1)
Specification
Table 9-1: Inspection Items (Sheet 2 of 2)
T-AXIS
1
1
S-AXIS
U-AXIS
1
4
1
B-AXIS
1
R-AXIS
10
9-4
9
2
15
16
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8
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9
14
6
Specification
Fig. 9-1: Inspection Items
1
L-AXIS
13
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Specification
9.2
9
9.2 Battery Pack Replacement
Battery Pack Replacement

The battery packs are installed in the position shown in Fig. 9-2(a) Battery
Location (Back View) and Fig. 9-2(b) Battery Location (Top View).
If a battery alarm occurs in the DX200, replace the battery in accordance
with the following procedure:
Fig. 9-2(a): Battery Location (Back View)
Plate
Plate fixing screw M4
Base
Connector base
Fig. 9-2(b): Battery Location (Top View)

Battery pack
Circuit board
Fig. 9-3: Battery Connection

Battery pack
before replacement
See replacing step 5.

Connector
Circuit board
(Type: SGDR-EFBA02A)
See replacing step 4.

New battery pack
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Specification
9
9.2 Battery Pack Replacement
1. Turn OFF the DX200 main power supply.
2. Remove the plate fixing screws and the plate on the connector base,
then pull the battery pack out to replace it with the new one.
3. Remove the battery pack from the battery holder.
4. Connect the new battery pack to the unoccupied connector on the
board.
5. Remove the old battery pack from the circuit board.
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 to the holder.

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

plate.
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Specification
9
9.3 Grease Exchange
9.3
Grease Exchange
9.3.1
Notes on Grease Exchange Procedures

Make sure to follow the instructions listed below at grease exchange.
Failure to observe the following notes may result in damage to motor and
speed reducer.
NOTE
If grease is injected without removing the plug from the

grease exhaust port, the grease will leak inside a motor, or
an oil seal of a speed reducer will come off. Make sure to
remove the plug or it may result in a failure.
Also, when using a tube, the length must be 150mm or
shorter and the inside diameter must be 6mm or longer.
If the tube is too long, the exhaust resistance at the tube
part is increased, and the inner pressure of the grease
bath is raised. It may result in coming off of an oil seal.
Make sure to use a grease pump to inject grease. Set the
grease injection speed to 7g/s or less. (Air supply
pressure to the grease pump: 0.3MPa or less (rough
standard)) If not, an oil seal of a speed reducer will come
off, and it may result in a failure.
When using extrusion air for discharging the grease, set
air supply pressure at 0.025MPa or less.
If not, an oil seal of a speed reducer will come off, and it
may result in a failure.
Make sure to fill the hose on the grease inlet with grease
beforehand to prevent air from leaking into the speed
reducer.
After injecting grease, discharge the specified amount of
grease. If insufficient, the inner pressure is raised during
the operation, and grease may leak. When discharged too
much, the speed reducer is not lubricated sufficiently
during the operation, and it may cause the early failure of
the speed reducer.
When filling/exchanging grease, the grease may flow out
from the grease inlet or the grease exhaust port. Prepare
a container to receive the grease and a waste cloth to
wipe the grease in advance.
After mounting a speed reducer or a motor, leave it 30
minutes or more and inject grease. If grease is filled
before the sealing bond is hardened, it may cause the
grease leakage.
WARNING
When operating the manipulator, do not enter into the working area
of the manipulator. Injury may result if anyone enter into the working
area during operation.
CAUTION
When using extrusion air for discharging the grease, the grease
may be vigorously discharged from the exhaust port. Perform an
operation such as using a tube at the grease exhaust port to pour
into an appropriate container.
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Specification
9.3.2
9
9.3 Grease Exchange
List of Necessary Items
Prepare necessary items as indicated in Table 9-3 List of Necessary
Items. S, L, U, R, and B in the table mean axes for grease
exchange to each axis, and Casing means R-, B-, and T-gear in a casing
for grease exchange.
Table 9-3: List of Necessary Items

Items
When exchanging
the grease of each axis
S
Grease zerk A-PT1/4
Casing
BT
Grease zerk A-PT1/8

Hexagon bit tool, width across flat: 5
Torque wrench (Range of use: 4.9Nm - 23Nm)
ThreeBond 1206C
Recommended grease lubricator: Power-lube P3C by Mac-naught
Air supply (air supply pressure: 0.3MPa or less)
Joint and hose for grease discharging (Approx. 150mm)
Container for grease discharging (Checking the cubical content (cc) inside
this container should be available.)
Regulator for grease discharging (Recommendation: ARP30-02G by SMC)
Weight scale (Minimum display should be 1g. Range of use: 0g - 2,000g)
Torque wrench, Extension bar for hexagon bit (30mm or longer)
9-8
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9.3.3
9.3.3.1
9
9.3 Grease Exchange
Grease Exchange
Grease Exchange for S-, L-, U-, R-, B-, and T-Axes Speed Reducer
1. Before injecting/discharging grease, the posture of the manipulator
must be set. Make the posture as indicated in Fig. 9-4 Recommended
Posture of Each Axis While Injecting to remove the plugs of the
grease inlets and the grease exhausting ports. (Refer to Fig. 9-5 Plug
Position of S- and L-axis Speed Reducer, Fig. 9-6 Plug Position of Uaxis Speed Reducer and R-, B-, and T-gear in a casing, and Fig. 9-7
Plug Position of R-, B-, and T-axis.) If it is difficult to make the
recommended posture because of external cabling or etc., adjust the
posture as much as possible to make the position of grease inlet
located in the lower part and the position of exhaust port located in the
upper part. Thus, grease can be filled/exchanged more properly as the
recommended posture.
Fig. 9-4: Recommended Posture of Each Axis While Injecting
At filling grease to U-axis

S-axis: Arbitrary
L-axis: Arbitrary
U-axis: 0 degree (U-arm, vertical to ground)
R-axis: Arbitrary
B-axis: Arbitrary
T-axis: Arbitrary
At filling grease to R,B,T-axis gear in the casing

At filling grease to R-axis
At filling grease to B, T-axis
S-axis: Arbitrary
L-axis: Arbitrary
U-axis: 0 degree (U-arm, vertical to ground)
R-axis: 0 degree (0 pulse)
B-axis: 0 degree (0 pulse)
T-axis: 0 degree (0 pulse)
At filling grease to L-axis
S-axis: Arbitrary
L-axis: 0 degree (0 pulse)
U-axis: Arbitrary
R-axis: Arbitrary
B-axis: Arbitrary
T-axis: Arbitrary
At filling grease to S-axis
S-axis: Arbitrary
L-axis: Arbitrary
U-axis: Arbitrary
R-axis: Arbitrary
B-axis: Arbitrary
T-axis: Arbitr ary
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9
9.3 Grease Exchange
Fig. 9-5: Plug Position of S- and L-axis Speed Reducer

L-axis grease exhaust port
Hexagon socket head plug PT3/8
L-axis grease inlet
S-axis grease exhaust port

S-axis grease inlet

Fig. 9-6: Plug Position of U-axis Speed Reducer and R-, B-, and T-gear in a casing
R-, B-, T-gear inside the casing grease exhaust port
U-axis grease exhaust port
R-, B-, T-gear inside the casing grease inlet

U-axis grease inlet

Fig. 9-7: Plug Position of R-, B-, and T-axis

B-, T-axis grease exhaust port
R-axis grease exhaust port

B-, T-axis grease inlet
R-axis grease inlet
9-10
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9
9.3 Grease Exchange
2. Install the grease zerk to the grease inlet. (Refer to Fig. 9-5 Plug
Position of S- and L-axis Speed Reducer, Fig. 9-6 Plug Position of Uaxis Speed Reducer and R-, B-, and T-gear in a casing, and Fig. 9-7
Plug Position of R-, B-, and T-axis.) (The grease zerk is delivered
with the manipulator.)
3. Inject grease through the grease inlet using a grease gun.
Grease type:
Molywhite RE No.00
Recommended grease lubricator: Power-lube P3C by Mac-naught

Grease injection rate:
7g/s or less
When the grease is discharged at 2 times/s from the lubricator, set
the discharge amount as 3.5g/time or less. (Rough standard)
Air supply pressure of grease pump:
(Rough standard)
0.3MPa or less
Table 9-4: Amount of Grease to Inject (as a guide only)

Grease exchanging point
Amount of Grease to Inject

(as a guide only)
S-axis
4350g
L-axis
2180g
U-axis
2180g
R-, B-, T-gear in the casing
2260g
R-axis
1910g
B-and T-axis
1130g
4. The old grease is discharged from the grease exhaust port. At this
time, stop injection when the mixture of the old grease and the new
grease in an equal ratio is seen.
5. Discharge the specified amount of grease from the grease inlet or
grease exhaust port (Refer to Table 9-5 Amount of Grease
Discharged from Each Axis.). In order to exhaust specified amount of
grease, receive discharged grease by a container, and then measure
the weight of discharged grease by weighing the container till the
amount reaches to the specified amount.
Use one of the following methods to discharge grease.
Discharging method 1: Extruding the grease by air injected from the
exhaust port.
Connect the joint and the hose to the grease inlet.
Connect the regulator to the grease exhaust port.
Extrude the grease by injecting the air from the exhaust port.
(Extrusion air pressure: 0.025MPa or less)
If the grease is not discharged enough by extruding air, operate the
manipulator again as shown in Table 9-6 Teaching Operation of Each
Axis.
Discharging method 2: Sucking out the grease from the exhaust port.
Leave the inlet open and insert the tube into the exhaust port.
Discharge the grease by suction using the tube.
(Suction pressure: 0.025MPa or less)
If the grease is not discharged enough by suction, operate the manipulator
again as shown in Table 9-6.
9-11
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9
9.3 Grease Exchange
Table 9-5: Amount of Grease Discharged from Each Axis

Amount of exhausted grease

[g]
[cc]
S-axis
0 [Unnecessary]
0 [Unnecessary]
L-axis
24030
27535 (240 to 310)
U-axis
29540
34045 (295 to 385)
R-, B-, T-gear in the casing
11515
13015 (115 to 145)
R-axis
9510
11015 (95 to 125)
B- and T-axis
555
6510 (55 to 75)
Table 9-6: Teaching Operation of Each Axis

Operation angle
at teaching operation
L-axis
L-axis 45
U-axis
U-axis 45
R-, B-, T-gear in the casing,

R-axis, and B-, T-axis
R-axis 90
Teaching
speed
Arbitrary
B-axis 45
T-axis 90
6. For the point where grease is exchanged, perform a playback

operation indicated in Table 9-7 Running-in Operation of Each Axis
for running-in the speed reducer with the grease.
At this time, in case grease is discharged during the operation, remove
the grease zerk from the grease inlet, clean and degrease the tap part
and the thread part of the plug. And then, apply ThreeBond 1206C to
the thread part of the plug to mount the plug to the grease inlet.
Tighten the plug with the tightening torque indicated in Table 9-8 Plug
Type and Tightening Torque of Each Axis. Also, discharge the excess
grease not to increase the inner pressure of the speed reducer. Attach
a bag to receive grease such as indicated in Fig. 9-8 Grease
Receiving Bag (Rough Standard), and then perform the running-in
operation.
Table 9-7: Running-in Operation of Each Axis
Running-in operation
Operation angle
Operation speed
Timer after
Operation
each operation time
S-axis
S-axis 45
MOVJ VJ= 50.00
1.0s
15 minutes
L-axis
L-axis 45
MOVJ VJ= 50.00
1.0s
15 minutes
U-axis
U-axis 45
MOVJ VJ= 50.00
1.0s
15 minutes
MOVJ VJ= 50.00
1.0s
15 minutes
R-, B-, and T-gear in the casing

R-, B-, and T-axis
R-axis 90
B-axis 45
T-axis 90
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9
9.3 Grease Exchange
Table 9-8: Plug Type and Tightening Torque of Each Axis

Plug for grease inlet
Plug for grease exhaust port
Plug type
Tightening torque
Plug type
Tightening torque
S-axis
PT1/4
12.0Nm (1.2kgfm)
PT3/8
23Nm (2.34kgfm)
PT1/8
4.9Nm (0.5kgfm)
L-axis
U-axis
R-, B-, and T-gear in the
casing
PT1/8
4.9Nm (0.5kgfm)
R-axis
B- and T-axis
Fig. 9-8: Grease Receiving Bag (Rough Standard)
Grease receiving bag

Cut one corner to remove air.
To prevent grease from scattering from the cut corner,
cover the receiving bag with a plastic bag etc. without
being sealed.
Bond for fixing a grease receiving bag
Tube (inside dia.: 6 mm or more)
Union (inside dia.: 6 mm or more)

PT3/8 or PT1/8
Wipe the discharged grease using a waste cloth. After cleaning and
degreasing the tap part and the thread part of the plug, apply ThreeBond
1206C to the thread part of the plug. Mount the plug to the grease exhaust
port, and tighten it with the tightening torque indicated in Table 9-8 Plug
Type and Tightening Torque of Each Axis
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9.3.4
9
9.3 Grease Exchange
Grease Replenishment for Gas Balancer Link Part
Fig. 9-9: Gas Balancer Link Part

Link 2 Grease exhaust port
(Hexagon socket head plug PT1/8)
Link 2 Grease inlet
Link 2 Bearing
Link 1 Bearing
Link 1 Grease inlet

Link 1 Grease exhaust port

1. Remove the plugs from the grease inlets and from the grease exhaust
ports of the link 1 and 2 .
2. Inject grease through the grease inlet of the link 1 and 2 using a
grease gun.
Grease type:
Alvania EP Grease 2
Amount of grease:
to the link 1 : 8cc

(30cc for 1st supply)
to the link 2 : 8cc
(16cc for 1st supply)
3. Wipe the discharged grease with a cloth at the grease exhaust ports
and reinstall the plugs to the exhaust ports of the link 1 and 2 . Apply
ThreeBond 1206C to the thread part of the plugs, and tighten the plugs
with a tightening torque of 4.9Nm (0.5kgfm).
4. Reinstall the plugs to the grease inlet of the link 1 and 2 . Apply
ThreeBond 1206C to the thread part of the plugs, and tighten the plugs
with a tightening torque of 4.9Nm (0.5kgfm.)
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9
9.4 Gas Maintenance Procedure in the Gas Balancer
9.4
Gas Maintenance Procedure in the Gas Balancer
9.4.1
Notes on Gas Maintenance Procedure in the Gas Balancer

Be sure to read the following precautions thoroughly and understand the
contents before performing gas inspections or discharging/injecting gas.
Failure to observe this may cause malfunctions of the gas balancer or
occurrence of accidents or injury.
DANGER
This gas balancer uses high-pressure nitrogen gas.
Do not inject other gas than nitrogen gas to this gas balancer.
Failure to observe this may cause malfunctions of the gas balancer
or occurrence of accidents or injury.
There is a possibility of suffocation accident in the high-density

nitrogen gas environment. For this reason, enough ventilation is
required when performing the operations.
Before inspecting the gas pressure in the gas balancer or

discharging/filling the gas from/into the gas balancer, confirm that
the L-axis motor brake is appropriately functioning and L-axis is
firmly fixed so that it will not rotate.
Failure to observe this may cause very dangerous situation due to
releasing of the L-axis motor brake. Because the L-axis without
retaining force leads the L-arm to rotate by the lengthened or
shortened gas balancer.
CAUTION
When handling high-pressure gas, sufficient caution and observing

of the related laws and local government regulations are required.
NOTE
To maintain the sealing performance, small quantity of oil

used may leak from the bottom part of the gas balancer.
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9
Specification
9.4.2
Gas Pressure Inspection
MANDATORY
9.4.2.1
Perform the gas pressure inspection every 6000H.
Operation of the manipulator with inadequate gas pressure gas

balancer may cause failure or breakage.
Adequate Gas Pressure

Adequate nitrogen gas pressure in the gas balancer varies depending on
the temperature. Refer to Table 9-9 Adequate Gas Pressure per Gas
Balancer Surface Temperature.
Table 9-9: Adequate Gas Pressure per Gas Balancer Surface Temperature
Gas balancer
surface
-10 -5
temperature
Adequate gas
pressure
10.5 10.8 11.1
(MPa)
10
15
20
25
30
35
40
45
50
55
60
11.4
11.6
11.9
12.2 12.4 12.7 13.0 13.2 13.5 13.8 14.1 14.4
Fig. 9-10: Adequate Gas Pressure per Gas Balancer Surface Temperature
13.2
9.4.2.2
Necessary Device
Prepare following devices when checking the gas pressure.
Digital service gauge: YSDSG-1
Quick connector :T2-770-G1/8
Thermometer (for measuring the gas balancer surface)
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9.4.2.3
9
Inspection Procedures
DANGER
Before inspecting the gas pressure in the gas balancer or discharging/
filling the gas from/into the gas balancer, confirm that the L-axis motor
brake is appropriately functioning and L-axis is firmly fixed so that it will
not rotate. Failure to observe this may cause very dangerous situation
due to releasing of the L-axis motor brake. Because the L-axis without
retaining force leads the L-arm to rotate by the lengthened or shortened
gas balancer.
1. Move the manipulator to the home position and turn OFF the power
supply of the DX200.
2. Remove the cover and the hexagon socket head screw plug M6 with
flange, which are mounted to the gas inlet, and insert the quick
connector.
3. Connect the digital service gauge to the quick connector.
4. Check the temperature of the gas balancer surface.
5. Check that the pressure indicated on the digital service gauge is
satisfying the value shown in the Table 9-9 Adequate Gas Pressure
per Gas Balancer Surface Temperature.
Depending on the value, procedures after this are subject to change.
Case 1: When the value is exceeding the adequate value
Discharge the gas till the value satisfies the adequate

value.
(Refer to section 9.4.3 Gas Discharging Procedure.)
Case 2: When the value is lower than the adequate value by
0.5MPa or more.
Inject the gas till the value satisfies the adequate value.
(Refer to section 9.4.4 Gas Injecting Procedure.)
Other than Case 1 and 2 :
Proceed to Step 6
6. Disconnect the digital service gauge from the quick connector.

7. Remove the quick connector and mount the cover, then tighten the
hexagon socket head screw plug M6 with flange by using a tightening
torque of 4.9Nm (0.5kgfm).
8. Mount the cover and tighten the hexagon socket head cap screws M4
(length: 6mm) with a tightening torque of 2.8Nm (0.29kgfm.)
9. Turn ON the power supply of the DX200.
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9
Fig. 9-11: Gas in Gas Balancer Pressure Inspection

A part
Gas inlet/gas exhaust port
Hexagon socket head cap screw M4 (length: 6 mm)(2 screws)

Conical spring washer 2L-4 (2 washers)
CoverHW1405134-1
Surface temperature measuring point
Measure on the surface

of the gas balancer
after removing the cover.
9-18
Hexagon socket head screw plug M6

with flange
A part
Enlarged Figure
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9.4.3
9
Gas Discharging Procedure
MANDATORY
Discharge all gas from the gas balancer when in the following
cases.
When dismounting the gas balancer from the manipulator.
When air-flight the gas balancer.
(It is treated as a hazardous material when the gas balancer is
air-flight with gas filled.)
9.4.3.1
Necessary Devices
Prepare following devices when discharging gas
Quick connector: T2-770-G1/8
9.4.3.2
Gas Discharging Procedures
DANGER
Before discharging/filling the gas from/into the gas balancer, confirm
that the L-axis motor brake is appropriately functioning and L-axis is
firmly fixed so that it will not rotate. Failure to observe this may cause
very dangerous situation due to releasing of the L-axis motor brake.
Because the L-axis without retaining force leads the L-arm to rotate by
the lengthened or shortened gas balancer.
MANDATORY
When discharging the gas, the valve of service gauge must not be
fully open. Take time and discharge the gas little by little. If the valve
of service gauge is fully open with high internal pressure, the nonreturn valve in the gas balancer may be damaged.
When discharging all gas

connector.
4. Discharge gas by releasing the valve of the digital service gauge.
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9
When Discharging Gas for Adjusting Pressure
connector.
5. Discharge gas by releasing the valve of the digital service gauge till the
gas pressure satisfies the value shown in Table 9-9 Adequate Gas
Pressure per Gas Balancer Surface Temperature.
NOTE
After discharging/injecting gas, wait for a few minutes to

stabilize the gas pressure, and then measure the gas
pressure.

Fig. 9-12: Gas Discharging Operation
A part

CoverHW1405134-1

of the gas balancer
9-20

with flange
A part
Enlarged Figure
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9.4.4
9.4.4.1
9
Gas Injecting Procedure
Necessary Devices
Prepare following devices when injecting gas
Nitrogen gas cylinder
Gas injecting device: Prepare an appropriate device for the gas
container used at each area. For the details, contact your YASKAWA
representative.
Quick connector: 2-770-G1/8
9.4.4.2
Gas Injecting Procedures
DANGER
Before discharging/filling the gas from/into the gas balancer, confirm
that the L-axis motor brake is appropriately functioning and L-axis is
firmly fixed so that it will not rotate. Failure to observe this may cause
very dangerous situation due to releasing of the L-axis motor brake.
Because the L-axis without retaining force leads the L-arm to rotate by
the lengthened or shortened gas balancer.
2. Remove the cover and the hexagon socket head screw plug with
connector.
5. Connect the injecting device to the nitrogen gas cylinder.
6. Connect the digital service gauge with the injecting device.
7. Release the gas cylinder valve after confirming that the releasing valve
of both injecting device and digital service gauge are firmly closed.
8. By rotating the injecting device regulator handle, set the gas pressure
slightly higher than the adequate pressure shown in Table 9-9
Adequate Gas Pressure per Gas Balancer Surface Temperature.
9. Release the injecting device releasing valve bit by bit to inject gas till
the gas pressure indicated by the digital service shows a little bit
higher pressure than the adequate pressure shown in Table 9-9.
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9
10. Wait for a few minutes to stabilize the gas pressure, then confirm that
the gas pressure finally reached the adequate pressure shown in
Table 9-9 Adequate Gas Pressure per Gas Balancer Surface
Temperature.
If the pressure is higher than the adequate pressure, discharge the
gas gradually and stabilize the gas pressure, then confirm that the gas
pressure finally reached the adequate value
NOTE
After discharging/injecting gas, wait for a few minutes to

stabilize the gas pressure, and then measure the gas
pressure.
11. Close the nitrogen gas cylinder valve.

(length: 6mm) with a tightening torque of 2.8Nm (0.29 kgfm.)
15. Disconnect the digital service gauge from the injecting device.
16. Release the injecting device releasing valve and regulator, and then
discharge the gas in the hose.
17. Disconnect the injecting device from the nitrogen gas cylinder.
Fig. 9-13: Gas Injecting Operation
A part

CoverHW1405134-1

of the gas balancer
9-22

with flange
A part
Enlarged Figure
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9.5
9
9.5 Notes for Maintenance
Notes for Maintenance
NOTE
When performing maintenance such as replacement of a

wire harness in the manipulator, the encoder connector may
be necessary to be removed. In this case, be sure to
connect the battery pack to the battery backup connector
before removing the encoder connector.
Removing the encoder connector without connecting the
battery pack leads to disappearance of the encoder
absolute data.
For the battery pack connection, refer to Table 9-14 Battery
Pack Connection.
9.5.1
Battery Pack Connection

The connectors (crimped contact-pin) for the battery backup are installed
at the end point of the motors (BAT and OBT are marked). Connect the
battery packs according to the following procedure.
1. Removed the cap attached to the battery backup connector of the
motors.
2. Connect the battery packs (HW9470932-A) with the battery backup
connectors (BAT and OBT are marked) located at the end point of the
cables for the encoder. (Under this condition, remove the encoder
connector and carry out the maintenance checks).
3. Confirm all connectors connected after the maintenance check, and
remove the battery packs. Install the caps attached to the battery
backup connectors of the motors.
NOTE
Do not remove the battery pack in the connector base.
Fig. 9-14: Battery Pack Connection

Motor
Motor power connector

Connector for the encoder
0BT
a 0BT*
BAT
b BAT*
Battery Pack: HW9470932-A
Connector for the battery backup
a:Insertion-type pin terminal (Pin)
b:Insertion-type pin terminal (Socket)
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10 Recommended Spare Parts
Specification

It is recommended to keep the parts and components in the following table
in stock as spare parts for the MOTOMAN-MH180. 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-MS165/MH180-A00 (Sheet 1 of 2)

Rank Parts
No.
Name
Type
Grease
Manufacturer
Qty
Qty
per
Unit
Remarks
Molywhite RE No. 00 YASKAWA Electric

Corporation
16 kg
For all axes

speed reducers
and wrist units
Grease
Alvania EP Grease 2 Showa Oil Co.,Ltd.
16 kg
For balancer
joint part
Liquid Gasket
Three Bond 1206C
Three Bond Co., Ltd. 1
Battery Pack
HW0470360-A
YASKAWA Electric
Corporation
Battery Pack
HW9470932-A
YASKAWA Electric
Corporation
Replacement Kit
for S-Axis Speed
Reducer
Y005CMSMH180A00S
YASKAWA Electric
Corporation
Replacement Kit
for L-Axis Speed
Reducer
Y005CMSMH180A00L
YASKAWA Electric
Corporation
Replacement Kit
for U-Axis Speed
Reducer
Y005CMSMH180A00U
YASKAWA Electric
Corporation
Replacement Kit
for R-Axis Speed
Reducer
Y005CMSMH180A00R
YASKAWA Electric
Corporation
10
Replacement Kit
for B-Axis Speed
Reducer
Y005CMSMH180A00B
YASKAWA Electric
Corporation
11
Replacement Kit
for T-Axis Speed
Reducer
Y005CMSMH180A00T
YASKAWA Electric
Corporation
12
Gas Balancer
HW1382567-A
YASKAWA Electric
Corporation
13
Wrist Unit
HW1171565-A
YASKAWA Electric
Corporation
10-1
For wire
harness in
manipulator
replacing
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Table 10-1: Spare Parts for the YR-MS165/MH180-A00 (Sheet 2 of 2)

Rank Parts
No.
Name
Type
Manufacturer
Qty
Qty
per
Unit
14
AC Servo Motor
for S-, L-, and
U-Axes
SGMRV-37ANAYR1*
HW0388670-A
YASKAWA Electric
Corporation
15
AC Servo Motor
for R-, B-and TAxes
SGMRV-13ANAYR1*
HW0388933-A
YASKAWA Electric
Corporation
16
Internal Wire
Harness
HW1171456-A
YASKAWA Electric
Corporation
17
Connector Base
Set
HW1371448-A
YASKAWA Electric
Corporation
18
Limit switch
for S-axis
HW1470807-A
YASKAWA Electric
Corporation
Lead terminal
treatment
completion
19
Limit switch
for L-axis
HW1470430-B
YASKAWA Electric
Corporation
Lead terminal
treatment
completion
20
Limit switch
for U-axis
HW1470430-C
YASKAWA Electric
Corporation
Lead terminal
treatment
completion
21
Circuit Board
SGDR-EFBA02A
YASKAWA Electric
Corporation
10-2
Remarks
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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
1031
1032
1012
1002
1003
1018
1019
1027
1028
1001
1046
1004
1005
1013
1006
1016
1030
1024
1029
1025
1015
1045
1022
1023
1009
1020
1034
1033
1021
1011
1008
1017
1010
1045
1047
1041
1026
1043
1042
1044
1007
1038
1039
1014
1035
1036
1037
1040
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11 Parts List
11.1 S-Axis Unit
No.
DWG No.
Name
Pcs
1001
HW0388208-B
Speed reducer
1002
SGMRV-37ANA-YR1*
Motor
1003
TC12015014
Oil seal
1004
STW-50
Retaining ring C-type
1005
6310
Bearing
1006
HW1303369-1
Gear
1007
HW1100520-1
Base
1008
HW1100521-1
S head
1009
HW1303370-1
Pipe
1
1
1010
HW9404863-1
Stopper
1011
HW9404486-1
Shaft
1012
MSTH12-30
Pin
1013
MSTH12-30
Pin
1014
KQ2L10-01S
Union
1015
PT3/8 (STAINLESS)
Hexagon socket head plug
1016
G415
O ring
1017
G130
O ring
1018
M12X50
Hexagon socket head cap screw
16
1019
SW2H-12
Conical spring washer
16
1020
M8X45
1021
2L-8
1022
M6X16
1023
2L-6
1024
M16X55
12
1025
GT-SH-16
Washer
12
1026
EZ5002A0
Cap
1027
HW1303371-1
Spacer
1028
HW1404226-1
Fly wheel
1029
M8X70
1030
2L-8
1031
M12X60
1032
2H-12
1033
M6X12 (TRIVALENT
CHROMATE)
Cross head APS bolt
1034
HW1404239-1
Cover
1035
HW1404229-1
Cover
1036
M6X16
1037
2L-6
1038
HW1404228-1
Cover
1039
M6X12 (TRIVALENT
CHROMATE)
Cross head APS bolt
1040
M6 (STAINLESS)
Washer
1041
HW1405450-1
Stopper
1042
M16X35
4
4
1043
2H-16
1044
HW0402104-1
Pin
1045
HW1408583-1
Pipe
1046
M6X30
GT-SA bolt
1047
HW1405024-1
Gasket
11-2
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11.2 L-Axis Unit
Specification
11.2
L-Axis Unit
Fig. 11-2: L-Axis Unit

2062
2078
2061
2053 2022
2016
2007
2004
2028
2079
2025
2028
2028
2009
2026
2025
2025
2026
2026
2026
2025
2045
2015
2011
2010
2008
2046
2047
2078
2054
2001
2017
2026
2025
2006
2078
2042
2068
2067
2069
2066
2044
2077
2076
2043
2064
2063 2034
2033
2028
2056
2057
2058
2059
2005
2060
2025
2026
2074
2073
1008
2003
2029
2030
2072
2075
2002
2031
2032
2038
2071
2021
2070
2026
2025
2028
2008 2028
2079
2011
2010
2023
2027
2078
2022
2007
2018
2053
2028
2009 2016
2062
2061
2026
2025
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Specification
11 Parts List
11.2 L-Axis Unit
Table 11-1: L-Axis Unit (Sheet 1 of 2)

No.
DWG No.
Name
Pcs
2001
HW1382455-C
Speed reducer
2002
SGMRV-37ANA-YR1*
Motor
2003
HW9482447-A
Oil seal
2004
HW1100591-1
L-arm
2005
HW1304057-1
Gear
2006
AS568-275
O ring
2007
VB75956
Oil seal
2008
VB60787
Oil seal
2009
22212EAE4
Bearing
2010
G105
O ring
2011
STW-60
2015
HW1304620-1
Shaft
2016
HW1303707-1
Clevis
2017
HW1304162-1
Spacer
2021
HW1405133-1
Spacer
2022
HW1482236-A
OILES bearing
2023
M12X35
GT-SA bolt
2025
M8X20
36
2026
2L-8
36
2027
PT3/8 (STAINLESS)
2028
PT1/8 (STAINLESS)
2029
M12X30
23
2030
2H-12
23
2031
M16X35
2032
2H-16
2033
M12X75
25
2034
2H-12
25
2038
HW1304368-1
Cover
2042
HW1303711-A
Support
2043
HW1382567-A
Balancer
2044
HW1404713-1
Cover
2045
HW1404712-1
Cover
2046
M6X12
2047
2L-6
2053
M6X10
Flush screw
2054
HW1304161-1
Spacer
2056
HW1303630-1
Shaft
2057
HW0408806-2
Washer
2058
HW0483320-C
Bolt
2059
HW1404554-1
Shaft
2060
ISTW10
Retaining ring
2061
M12X40
12
2062
2H-12
12
2063
SLH-M6X12
Low head socket head cap screw
2064
2L-6
2066
HW1405134-1
Cover
2067
M4X6
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Specification
11 Parts List
11.2 L-Axis Unit
Table 11-1: L-Axis Unit (Sheet 2 of 2)
No.
DWG No.
Name
Pcs
2068
2L-4
2069
HW1304369-A
Cover
2070
M6X16
2071
2L-6
2072
M6
Washer
2073
M5X10
2074
2L-5
2075
HW1406698-1
Cover
2076
M6X16
2077
2L-6
2078
MSTH6-20
Pin
2079
HW1406482-1
B holder
1008
HW1100521-1
S head
11-5
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Specification
11.3
11 Parts List
11.3 U-, R-, B-, T-Axes Unit
U-, R-, B-, T-Axes Unit
Fig. 11-3: U-, R-, B-, T-Axes Unit

T-axis
R-axis
3010
3010
3027
3027
3003
3011
3030
3001
3028
3005
3008
3004
3002
3010
3031
3009
3029
3009
3029
B-axis
3007
3011
3008
3013
3014
3027
3012
3006
3011
3029
3015
3009
4016
3014
3008
4001
3026
3009
3014
3034
3033
3032
3035
3036
3037
3023
3025
3016
3024
3020
3019
2004
3022
3021
3018
3017
3032
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Specification
11 Parts List
11.3 U-, R-, B-, T-Axes Unit
Table 11-2: U-, R-, B-, T-Axes Unit

No.
DWG No.
Name
Pcs
3001
HW0402391-1
Collar
3002
HW0402406-1
Collar
3003
HW1303889-1
Gear
3004
ISTW-36
Retaining ring
3005
HW0402390-1
Collar
3006
HW1303377-1
Gear
3007
HW1303378-1
Gear
3008
M6X25
3009
2L-6
3010
SGMRV-13ANA-YR1*
Motor
3011
M8X25
GT-SA bolt
3012
HW1100592-1
Casing
3013
HW9482447-A
Oil seal
3014
PT3/8 (STAINLESS)
3015
SGMRV-37ANA-YR1*
Motor
3016
HW0388209-F
Speed reducer
3017
M12X55
16
3018
SW2H-12
16
3019
M10X25
18
3020
2L-10
18
3021
M16X35
3022
2H-16
3023
HW0481083-A
Bolt
3024
ISTW-12
Retaining ring
3025
HW1303890-1
Gear
3026
G270
O ring
3027
Y507212.5
Oil seal
3028
TAFI405520
Bearing
3029
HW0401506-1
Plate
3030
IRTW-55
Retaining ring
3031
M12X35
GT-SA bolt
3032
PT1/8 (STAINLESS)
3033
HW1404759-1
Cover
3034
M6X12
3035
HW9482306-E
Shaft
3036
HW9481343-A
Shaft
3037
HW0408806-1
Washer
2004
HW1100591-1
L-arm
4001
HW1100593-1
U-arm
4016
HW0100173-2
Housing
11-7
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11 Parts List
11.4 U-Arm Unit
Specification
11.4
U-Arm Unit
Fig. 11-4: U-Arm Unit

3012
4024
4025
4021
4022
4002
4019 4023
4016
4027
4035
4027
4012
4008 4030
4018
4017
4010
4014
4020
4033
4006
4007
4030
4011
4013
4032
4031
4005
4001
4003
4004
4034
4009
4029
4028
4036
4026
11-8
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Specification
11 Parts List
11.4 U-Arm Unit
Table 11-3: U-Arm Unit

No.
DWG No.
Name
Pcs
4001
HW1100593-1
U-arm
4002
HW0401508-1
Plate
4003
6810DDU
Bearing
4004
WR50
Retaining ring
4005
AC2847F3*NOK*
Oil seal
4006
NK25/20R
Needle bearing
4007
WR20
Circlip
4008
LRT202526
Bearing
4009
HW1382917-A
Speed reducer
4010
HR32017XJ
Bearing
4011
AC3842-F1-FKM
Oil seal
4012
HW1303780-1
Shaft
4013
HW0302261-A
Shaft
4014
HW0302262-B
Shaft C
4016
HW0100173-2
Housing
4017
HR32013XJ
Bearing
4018
HW1303381-1
Gear
4019
HW0401505-1
B nut
4020
HW0303951-1
Gear
4021
M8X20
4022
2L-8
4023
M4X6
Hexagon socket set screw
4024
M8X20
4025
2L-8
4026
PT1/8 (STAINLESS)
4027
HR32006XJ
Bearing
4028
M8X95
16
4029
2L-8
16
4030
M5X12
GT-SA bolt
4031
M12X35
18
4032
2H-12
18
4033
GS210
O ring
4034
MSTM8-20
Pin
4035
HW0303948-1
Gear
4036
MSTH6-15
Pin
3012
HW1100592-1
Casing
11-9
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11 Parts List
11.5 Wrist Unit
Specification
11.5
Wrist Unit
Fig. 11-5: Wrist Unit
4013
4012
5014
5013
5013
5009
5068
5012
5018
5015
5010
5011
5025
5001
5073
5026
5024
5037
5088
5030
5032
5023
5028
5008
5003
5002
5061
5027
5023
5021
5080
5076
5075
5019
5074
5022
5078
5079
5077
5036
5023
5043
5050
5095
5004
5042
5094
5016
5047
5042
5044
5046
5045
5039
5093
5092
5038
5089
5090
5091
5065
5033
5038
5032
5033
5031
5023
5057
5086
5084
5087 5086
5034
5035
5029
5020
5085
5017
5005 5018
5042
5007
5006
5041
5040
5042
11-10
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Specification
11 Parts List
11.5 Wrist Unit
Table 11-4: Wrist Unit (Sheet 1 of 2)

No.
DWG No.
Name
Pcs
5001
HW1100595-1
Wrist base
5002
M12X35
5003
2H-12
5004
HW1100594-1
Wrist
5005
HW9380961-G
Speed reducer
5006
M8X15
14
5007
2L-8
14
5008
G110
O ring
5009
6908DB
Bearing
5010
HW0401511-1
B holder
5011
HW0401509-1
Housing
5012
HW0401510-1
B nut
5013
M4X12
GT-SA bolt
5014
M4X6
5015
6909
Bearing
5016
ARP568-263
O ring
5017
6009
Bearing
5018
STW-45
5019
HW1303384-1
Gear
5020
HW0301223-1
Gear
5021
HW9481236-A
Bearing
5022
HW1404234-1
Cover
5023
HR32004XJ
Bearing
5024
6911
Bearing
5025
AE3290E3
Oil seal
5026
AR80
Circlip
5027
S60
O ring
5028
HW9403618-1
Housing
5029
M6X15
GT-SA bolt
5030
HW0301224-1
Gear
5031
HW0301225-1
Gear
5032
HW0401514-1
B nut
5033
M5X7
Magic screw
5034
M8X20
5035
2L-8
5036
HW9403617-1
Housing
5037
HW0200615-1
Cover
5038
M6X15
GT-SA bolt
10
5039
HW0300889-1
Cover
5040
M6X25
5041
2L-6
5042
PT1/8 (STAINLESS)
5043
HW0301227-1
Gear
11-11
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Specification
11 Parts List
11.5 Wrist Unit
Table 11-4: Wrist Unit (Sheet 2 of 2)
No.
DWG No.
Name
Pcs
5044
HW0389174-C
Speed reducer
5045
M14X40
5046
GT-SH M14
5047
HW1303903-1
Flange
5050
HW0406766-*
Shim
5057
HW9403621-*
Shim
5061
HW9403622-*
Shim
5065
HW0401517-*
Shim
5068
HW0401516-*
Shim
5073
PT3/8 (STAINLESS)
5074
HW9405444-1
B nut
5075
HW9403610-1
B cover
5076
*HW1404864-1*G
Housing
5077
M4X6
5078
M8X20
16
5079
2L-8
16
5080
HW9403623-*
Shim
5084
M4X16
5085
M4X8
5086
2L-4
12
5087
HW0301231-1
Gear
5088
HW0301230-1
Gear
5089
HW0301226-1
Gear
5090
M8X40
14
5091
2L-8
14
5092
M8X85
5093
2L-8
5094
HW9482951-A
Packing
5095
HW1405841-1
Collar
4012
HW1303780-1
Shaft
4013
HW0302261-A
Shaft
11-12
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MOTOMAN-MH180
INSTRUCTIONS
HEAD OFFICE
2-1 Kurosakishiroishi, Yahatanishi-ku, Kitakyushu 806-0004, Japan
Phone +81-93-645-7703
Fax +81-93-645-7802
YASKAWA America Inc. (Motoman Robotics Division)
100 Automation Way, Miamisburg, OH 45342, U.S.A.
Phone +1-937-847-6200
Fax +1-937-847-6277
YASKAWA Europe GmbHRobotics Divsion )
Yaskawastrasse 1, 85391 Allershausen, Germany
Phone +49-8166-90-100
Fax +49-8166-90-103
YASKAWA Nordic AB
Verkstadsgatan 2, Box 504 ,SE-385 25 Torsas, Sweden
Phone +46-480-417-800
Fax +46-486-414-10
YASKAWA Electric (China) Co., Ltd.
22F, One Corporate Avenue, No.222, Hubin Road, Huangpu District, Shanghai 200021, China
Phone +86-21-5385-2200
Fax 86-21-5385-3299
YASKAWA SHOUGANG ROBOT Co. Ltd.
No7 Yongchang North Road, Beijing E&T Development AreaChina 100176
Phone +86-10-6788-2858
Fax +86-10-6788-2878
YASKAWA India Private Ltd. (Robotics Division)
#426, Udyog Vihar, Phase- IV,Gurgaon, Haryana, India
Phone +91-124-475-8500
Fax +91-124-475-8542
YASKAWA Electric Korea Corporation
35F, Three IFC, 10 Gukjegeumyung-ro, Yeongdeungpo-gu, Seoul, Korea07326
Phone +82-2-784-7844
Fax +82-2-784-8495
YASKAWA Electric Taiwan Corporation
12F, No.207, Sec. 3, Beishin Rd., Shindian District, New Taipei City 23143, Taiwan
Phone +886-2-8913-1333
Fax +886-2-8913-1513
YASKAWA Electric (Singapore) PTE Ltd.
151 Lorong Chuan, #04-02A, New Tech Park, Singapore 556741
Phone +65-6282-3003
Fax +65-6289-3003
YASKAWA Electric (Thailand) Co., Ltd.
59,1st-5th Floor, Flourish Building, Soi Ratchadapisek 18,Ratchadapisek Road,
Huaykwang, Bangkok 10310, THAILAND
Phone +66-2-017-0099
Fax +66-2-017-0199
PT. YASKAWA Electric Indonesia
Secure Building-Gedung B Lantai Dasar & Lantai 1 JI. Raya Protokol Halim Perdanakusuma,
Jakarta 13610, Indonesia
Phone +62-21-2982-6470
Fax +62-21-2982-6741
Specifications are subject to change without notice

for ongoing product modifications and improvements.
Printed in Japan October 2016 13-09
MANUAL NO.
HW1482326
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(Cd光碟 - 操作手冊) Motoman-mh180 Instructions

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(Cd光碟 - 操作手冊) Motoman-mh180 Instructions

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MOTOMAN-MH180

Copyright 2016, 2014, 2013 YASKAWA America, Inc.

This instruction manual is intended to explain mainly on the

General items related to safety are listed in Chapter 1: Safety of the

The drawings and photos in this manual are representative

YASKAWA may modify this model without notice when necessary

If your copy of the manual is damaged or lost, contact a YASKAWA

YASKAWA is not responsible for incidents arising from unauthorized

Notes for Safe Operation

Notes for Safe Operation

Indicates an imminent hazardous

Indicates a potentially hazardous

Always be sure to follow explicitly

MANDATORY the items listed under this heading.

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

Maintenance and inspection must be performed by specified

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

Notes for Safe Operation

Before operating the manipulator, check that servo power is turned

Injury or damage to machinery may result if the emergency stop circuit

Injury may result from unintentional or unexpected manipulator motion.

Observe the following precautions when performing teaching

Improper or unintended manipulator operation may result in injury.

Confirm that no person is present in the P-point maximum envelope

Definition of Terms Used Often in This Manual

Perform the following inspection procedures prior to conducting

Always return the programming pendant to the hook on the cabinet

The programming pendant can be damaged if it is left in the

Read and understand the Explanation of Warning Labels in the

Definition of Terms Used Often in This Manual

DX200 programming pendant

Cable between the manipulator and the

Description of the Operation Procedure

Explanation of Warning Labels

Explanation of Warning Labels

Mechanical Safety Devices

Programming, Operation, and Maintenance Safety

Programming, Operation, and Maintenance Safety

Summary of Warning Information

Customer Support Information

Customer Support Information

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

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

Access this information on the

Robot Serial Number

Located on the robot data plate

Robot Sales Order Number

Located on the DX200 controller

5.6 Alterable Operating Range .............................................................................................. 5-10

9.4.3 Gas Discharging Procedure ............................................................................... 9-19

If the numbers do not match, manipulators may not perform as

Order Number Confirmation

Fig. 1-1: Location of Order Number Labels

THE MANIPULATOR AND THE CONTROLLER

Check that the manipulator

View A (Enlarged View)

(b) Manipulator (Top View)

(b) Manipulator (Side View)

Sling applications and crane or forklift operations must be