Instructions MH6D-10 - MH6F-10 PDF

MOTOMAN-MH6D-10/MH6F-10
INSTRUCTIONS
TYPE:
YR-MH00006-A30 (10 kg PAYLOAD SPECIFICATION)
YR-MH00006-A31 (10 kg PAYLOAD AND WITH LIMIT SWITCHES FOR S-, L-, U-AXES)
YR-MH0006F-A30 (10 kg PAYLOAD SPECIFICATIOHW1480151N)
YR-MH0006F-A31 (10 kg PAYLOAD AND WITH LIMIT SWITCHES FOR S-, L-, U-AXES)
Upon receipt of the product and prior to initial operation, read these instructions thoroughly, and retain
for future reference.

MOTOMAN INSTRUCTIONS
MOTOMAN-MH6D-10//MH6F-10 INSTRUCTIONS
DX100 INSTRUCTIONS
DX100 OPERATOR’S MANUAL
DX100 MAINTENANCE MANUAL
FS100 INSTRUCTIONS
FS100 OPERATOR’S MANUAL
FS100 MAINTENANCE MANUAL
The DX100 of FS100 operator’s manual above corresponds to specific usage.
Be sure to use the appropriate manual.
Part Number: 162892-1CD

Revision: 0
MANUAL NO.
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MH6D-10/MH6F-10
MANDATORY
• This instruction manual is intended to explain mainly on the
mechanical part of the MH6D-10/MH6F-10 for the application to the
actual operation and for proper maintenance and inspection.
It describes on safety and handling, details on specifications,
necessary items on maintenance and inspection, to explain
operating instructions and maintenance procedures. Be sure to
read and understand this instruction manual thoroughly before
installing and operating the manipulator.
• General items related to safety are listed in the Chapter 1: Safety of
the DX100/FS100 Instructions. To ensure correct and safe
operation, carefully read the DX100/FS100 Instructions before
reading this manual.
CAUTION
• Some drawings in this manual are shown with the protective covers
or shields removed for clarity. Be sure all covers and shields are
replaced before operating this product.
• The drawings and photos in this manual are representative
examples and differences may exist between them and the
delivered product.
• YASKAWA may modify this model without notice when necessary
due to product improvements, modifications, or changes in
specifications.
If such modification is made, the manual number will also be
revised.
• If your copy of the manual is damaged or lost, contact a YASKAWA
representative to order a new copy. The representatives are listed
on the back cover. Be sure to tell the representative the manual
number listed on the front cover.
• YASKAWA is not responsible for incidents arising from unauthorized
modification of its products. Unauthorized modification voids your
product’s warranty.
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MH6D-10/MH6F-10
Notes for Safe Operation

Read this manual carefully before installation, operation, maintenance, or
inspection of the MOTOMAN-MH6-10/MH6F-10.
In this manual, the Notes for Safe Operation are classified as
“WARNING”, “CAUTION”, “MANDATORY”, or “PROHIBITED”.
Indicates a potentially hazardous

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

CAUTION situation which, if not avoided, could
result in minor or moderate injury to
personnel and damage to equipment.
It may also be used to alert against
unsafe practices.
Always be sure to follow explicitly the

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

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

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

NOTE to follow all instructions, even if not designated as “CAU-
TION” and “WARNING”.
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MH6D-10/MH6F-10
DX100>
WARNING
• Before operating the manipulator, check that servo power is turned
OFF pressing the emergency stop buttons on the front door of the
DX100 and the programming pendant.
When the servo power is turned OFF, the SERVO ON LED on the
programming pendant is turned OFF.
Injury or damage to machinery may result if the emergency stop circuit
cannot stop the manipulator during an emergency. The manipulator
should not be used if the emergency stop buttons do not function.
Figure 1: Emergency Stop Button
• Once the emergency stop button is released, clear the cell of all
items which could interfere with the operation of the manipulator.
Then turn the servo power ON.
Injury may result from unintentional or unexpected manipulator motion.
Figure 2: Release of Emergency Stop
TURN
• Observe the following precautions when performing teaching

operations within the P-point maximum envelope of the
manipulator:
– View the manipulator from the front whenever possible.
– Always follow the predetermined operating procedure.
– Keep in mind the emergency response measures against the
manipulator’s unexpected motion toward you.
– Ensure that you have a safe place to retreat in case of
emergency.
Improper or unintended manipulator operation may result in injury.
• Confirm that no person is present in the P-point maximum envelope
of the manipulator and that you are in a safe location before:
– Turning ON the power for the DX100.
– Moving the manipulator with the programming pendant.
– Running the system in the check mode.
– Performing automatic operations.
Injury may result if anyone enters the P-point maximum envelope of the
manipulator during operation. Always press an emergency stop button
immediately if there is a problem.
The emergency stop buttons are located on the right of front door of the
DX100 and the programming pendant.
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MH6D-10/MH6F-10
<FS100>
WARNING
• Before operating the manipulator, check that servo power is turned
OFF when the emergency stop button on the programming pendant
is pressed.
When the servo power is turned OFF, the SERVO ON LED on the
programming pendant is turned OFF.
Injury or damage to machinery may result if the emergency stop circuit
cannot stop the manipulator during an emergency.
Figure 3: Emergency Stop Button
• In the case of not using the programming pendant, be sure to

supply the emergency stop button on the equipment. Then before
operating the manipulator, check to be sure that the servo power is
turned OFF by pressing the emergency stop button.
Connect the external emergency stop button to the 5-6 pin and 16-
17 pin of the robot system signal connector (CN2).
• Upon shipment of the FS100, this signal is connected by a jumper
cable in the dummy connector. To use the signal, make sure to
supply a new connector, and then input it.
If the signal is input with the jumper cable connected, it does not
function, which may result in personal injury or equipment damage.
• Once the emergency stop button is released, clear the cell of all
items which could interfere with the operation of the manipulator.
Then turn the servo power ON.
Injury may result from unintentional or unexpected manipulator motion.
Figure 4: Release of Emergency Stop
TURN
• Observe the following precautions when performing teaching

operations within the manipulator’s operating range:
– Always follow the predetermined operating procedure.
– Keep in mind the emergency response measures against the
manipulator’s unexpected motion toward you.
– Ensure that you have a safe place to retreat in case of
emergency.
Improper or unintended manipulator operation may result in injury.
• Confirm that no person is present in the manipulator’s operating
range and that you are in a safe location before:
– Turning ON the FS100 power.
– Moving the manipulator with the programming pendant.
– Running the system in the check mode.
– Performing automatic operations.
Injury may result if anyone enters the manipulator’s operating range
during operation. Always press the emergency stop button
immediately if there is a problem.
The emergency stop button is located on the right of the programming
pendant.
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MH6D-10/MH6F-10
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.
• For the DX100, always return the programming pendant to the hook
on the cabinet of the DX100 after use.
For the FS100, always return the programming pendant to a safe
place after use.
The programming pendant can be damaged if it is left in the
manipulator's work area, on the floor, or near fixtures.
• Read and understand the Explanation of Warning Labels in the
DX100/FS100 Instructions before operating the manipulator:
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MH6D-10/MH6F-10
Definition of Terms Used Often in This Manual (DX100)

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

The MOTOMAN is the YASKAWA industrial robot product.
The MOTOMAN usually consists of the manipulator, the FS100 controller,
manipulator cables, the FS100 programming pendant (optional), and the
FS100 programming pendant dummy connector (optional).
In this manual, the equipment is designated as follows:
Equipment Manual Designation
FS100 controller FS100
FS100 programming pendant Programming pendant
Cable between the manipulator Manipulator Cable
and the controller
FS100 programming pendant Programming pendant
dummy connector dummy connector
Registered Trademark
In this manual, names of companies, corporations, or products are
trademarks, registered trademarks, or brand names for each company or
corporation. The indications of (R) and TM are omitted.
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MH6D-10/MH6F-10
Explanation of Warning Labels

The following warning labels are attached to the manipulator.
Always follow the warnings on the labels.
Also, an identification label with important information is placed on the
body of the manipulator. Prior to operating the manipulator, confirm the
contents.
Figure 5: Warning Label Locations
WARNING label B
WARNING label A WARNING label A
Nameplate
Nameplate: WARNING Label A:
WARNING
Moving parts
may cause
injury
WARNING Label B:
WARNING
Do not enter
robot
work area.
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MH6D-10/MH6F-10
Table of Contents
1 Product Confirmation ...................................................................................................................... 1-1
1.1 Contents Confirmation ....................................................................................................... 1-1
1.2 Order Number Confirmation .............................................................................................. 1-2
2 Transport......................................................................................................................................... 2-1
2.1 Transport Method .............................................................................................................. 2-1
2.1.1 Using a Crane ...................................................................................................... 2-2
2.1.2 Using a Forklift...................................................................................................... 2-2
2.2 Shipping Bolts and Brackets.............................................................................................. 2-3
3 Installation....................................................................................................................................... 3-1
3.1 Installation of the Safeguarding ......................................................................................... 3-2
3.2 Mounting Procedures for Manipulator Base ...................................................................... 3-2
3.2.1 Mounting Example................................................................................................ 3-3
3.3 Types of Mounting ............................................................................................................. 3-4
3.3.1 S-axis Operating Range ....................................................................................... 3-4
3.3.2 Fixing the Manipulator Base ................................................................................. 3-4
3.3.3 Precautions to Prevent the Manipulator from Falling............................................ 3-4
3.4 Location ............................................................................................................................. 3-5
4 Wiring.............................................................................................................................................. 4-1
4.1 Grounding .......................................................................................................................... 4-1
4.2 Cable Connection .............................................................................................................. 4-2
4.2.1 Connection to the Manipulator.............................................................................. 4-2
4.2.2 Connection to the DX100/FS100.......................................................................... 4-2
5 Basic Specifications ........................................................................................................................ 5-1
5.1 Basic Specifications........................................................................................................... 5-1
5.2 Part Names and Working Axes.......................................................................................... 5-2
5.3 Baseplate Dimensions ....................................................................................................... 5-2
5.4 Dimensions and P-Point Maximum Envelope.................................................................... 5-3
5.5 Alterable Operating Range ................................................................................................ 5-4
6 Allowable Load for Wrist Axis and Wrist Flange ............................................................................. 6-1
6.1 Allowable Wrist Load ......................................................................................................... 6-1
6.2 Wrist Flange....................................................................................................................... 6-3
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Table of Contents
7 System Application.......................................................................................................................... 7-1
7.1 Peripheral Equipment Mounts............................................................................................ 7-1
7.1.1 Allowable Load ..................................................................................................... 7-1
7.1.2 Installation Position............................................................................................... 7-1
7.2 Internal User I/O Wiring Harness and Air Line................................................................... 7-2
8 Electrical Equipment Specification .................................................................................................. 8-1
8.1 Location of Limit Switch ..................................................................................................... 8-1
8.2 Internal Connections .......................................................................................................... 8-2
9 Maintenance and Inspection ........................................................................................................... 9-1
9.1 Inspection Schedule........................................................................................................... 9-1
9.2 Notes on Maintenance Procedures.................................................................................... 9-7
9.2.1 Battery Pack Replacement ................................................................................... 9-7
9.3 Notes on Grease Replenishment/Exchange Procedures .................................................. 9-9
9.3.1 Grease Replenishment/Exchange for S-axis Speed Reducer............................ 9-10

9.3.1.1 Grease Replenishment.......................................................................... 9-10
9.3.1.2 Grease Exchange.................................................................................. 9-11
9.3.2 Grease Replenishment/Exchange for L-axis Speed Reducer ............................ 9-12

9.3.2.2 Grease Exchange.................................................................................. 9-13
9.3.3 Grease Replenishment/Exchange for U-axis Speed Reducer............................ 9-14

9.3.3.2 Grease Exchange.................................................................................. 9-15
9.3.4 Grease Replenishment for R-axis Speed Reducer............................................. 9-16
9.3.5 Grease Replenishment for B- and T-axes Speed Reducers .............................. 9-17
9.3.6 Grease Replenishment for T-axis Gear .............................................................. 9-18
9.3.7 Grease Replenishment for R-axis Cross Roller Bearing .................................... 9-19
9.3.8 Notes for Maintenance........................................................................................ 9-20

9.3.8.1 Wrist Axes ............................................................................................. 9-20
9.3.8.2 Battery Pack Connection ....................................................................... 9-20
10 Recommended Spare Parts....................................................................................................... 10-1
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MH6D-10/MH6F-10 1 Product Confirmation
1.1 Contents Confirmation
1 Product Confirmation
CAUTION
• Confirm that the manipulator and the DX100/FS100 have the same
order number. Special care must be taken when more than one
manipulator is to be installed.
If the numbers do not match, manipulators may not perform as
expected and cause injury or damage.
1.1 Contents Confirmation

Confirm the contents of the delivery when the product arrives.
Standard delivery includes the following four items (Information for the
content of optional goods is given separately):
• Manipulator
• DX100/FS100
• Programing Pendant
• Manipulator Cable (between the DX100/FS100 and the Manipulator)
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MH6D-10/MH6F-10 1 Product Confirmation
1.2 Order Number Confirmation
1.2 Order Number Confirmation

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

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

Y
AC220V 60Hz AVERAGE kVA

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

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

SHOULD HAVE SAME ORDER NUMBER.
FBB
CN210 CN211
ORDER NO.
NJ1529
(c) FS100 (Front View)
PROGRAMMING PENDANT
X81
(a) DX100 (Front View) (b) Manipulator (Top View)
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MH6D-10/MH6F-10 2 Transport
2.1 Transport Method
2 Transport
CAUTION
• Sling applications and crane or forklift operations must be
performed by authorized personnel only.
Failure to observe this caution may result in injury or damage.
• Avoid excessive vibration or shock during transport.
The system consists of precision components. Failure to observe this
caution may adversely affect performance.
• The weight of the manipulator is approximately 135 kg

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

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

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

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

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

NOTE bolts and brackets are removed. The shipping bolts and
brackets then must be stored for future use, in the event
that the manipulator must be moved again.
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MH6D-10/MH6F-10 3 Installation
3 Installation
WARNING
• Install the safeguarding.
Failure to observe this warning may result in injury or damage.
• Install the manipulator in a location where the tool or the workpiece
held by its fully extended arm will not reach the wall, safeguarding,
or controller.
Failure to observe this warning may result in injury or damage.
• Do not start the manipulator or even turn ON the power before it is
firmly anchored.
The manipulator may overturn and cause injury or damage.
• When mounting the manipulator on the ceiling or wall, the base
section must have sufficient strength and rigidity to support the
weight of the manipulator. Also, it is necessary to consider
countermeasures to prevent the manipulator from falling.
Failure to observe these warnings may result in injury or damage.
CAUTION
• Do not install or operate a manipulator that is damaged or lacks
parts.
Failure to observe this caution may cause injury or damage.
• Before turning ON the power, check to be sure that the shipping
bolts and brackets explained in Fig. 2-3 Shipping Bolts and Brackets
on page 2-3 are removed.
Failure to observe this caution may result in damage to the driving
parts.
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3.1 Installation of the Safeguarding
3.1 Installation of the Safeguarding

To insure safety, be sure to install safeguarding. They prevent unforeseen
accidents with personnel and damage to equipment. The following is
quoted for your information and guidance.
Responsibility for Safeguarding (ISO10218)

The user of a manipulator or robot system shall ensure that safeguarding
is provided and used in accordance with Sections 6, 7, and 8 of this
standard. The means and degree of safeguarding, including any
redundancies, shall correspond directly to the type and level of hazard
presented by the robot system consistent with the robot application.
Safeguarding may include but not be limited to safeguarding devices,
barriers, interlock barriers, perimeter guarding, awareness barriers, and
awareness signals.
3.2 Mounting Procedures for Manipulator Base

The manipulator should be firmly mounted on a baseplate or foundation
strong enough to support the manipulator and withstand repulsion forces
during acceleration and deceleration.
Construct a solid foundation with the appropriate thickness to withstand
maximum repulsion forces of the manipulator referring to Table 3-1
Maximum Repulsion Forces of the Manipulator at Emergency Stop and
Table 3-2 Endurance Torque in Operation.
A baseplate flatness must be kept at 0.5 mm or less: insufficient flatness
of installation surface may deform the manipulator shape and affect its
functional abilities. Mount the manipulator base as instructed in
chapter 3.2.1 “Mounting Example” at page 3-3.
Table 3-1: Maximum Repulsion Forces of the Manipulator at Emergency

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

Endurance torque in horizontal operation 900 N•m
(S-axis moving direction) (93 kgf•m)
Endurance torque in vertical operation 1500 N•m
(L-, U-axes moving direction) (158 kgf•m)
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3.2 Mounting Procedures for Manipulator Base
3.2.1 Mounting Example

For the first process, anchor the baseplate firmly to the ground. The
baseplate should be rugged and durable to prevent shifting of the
manipulator or the mounting fixture. It is recommend to prepare a
baseplate of 40 mm or more thick, and anchor bolts of M16 or larger size.
The manipulator base is tapped for four mounting holes; securely fix the
manipulator base to the baseplate with four hexagon head bolts M16 (50
mm long is recommended).
Next, fix the manipulator base to the baseplate. Tighten the hexagon
head bolts and anchor bolts firmly so that they will not work loose during
the operation.
Refer to Fig.3-1 Mounting the Manipulator Baseplate.
Fig. 3-1: Mounting the Manipulator Baseplate
Hexagon socket head cap screw
M16 (4 screws)
Spring washer
Washer
Manipulator base
20 Baseplate
40 mm
or more
Manipulator base
Anchor bolt M16 or more
Baseplate
300
A
260 Baseplate
240 132±0.1 +0.018
16 dia. 0
Tapped hole 18 dia. (2 holes)
(4 holes)
153±0.1
102±0.1
60
300
292
260
60
132±0.1
130±0.1
+0.018
12 dia. 0
102±0.1
100±0.1 153±0.1
Units: mm
View A
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3.3 Types of Mounting
3.3 Types of Mounting

The MOTOMAN-MH6-10/MH6F-10 is available in three types: floor-
mounted type (standard), wall-mounted type and ceiling-mounted type.
For wall-mounted and ceiling-mounted types, the three points listed below
are different from the floor-mounted type.
• S-axis Operating Range
• Fixing the Manipulator Base
• Precautions to Prevent the Manipulator from Falling
3.3.1 S-axis Operating Range

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

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

For the wall- or ceiling-mounted types, take appropriate measures to avoid
the falling of the manipulator in case of emergency. Refer to Fig.3-2
Precaution against Falling for details.
Fig. 3-2: Precaution against Falling
Support
Manipulator base Hexagon socket head cap

screw M16 (4 screws)
(Tensile strength: 1200 N/mm2 or above)
In case of using the wall-/ceiling-mounted type, inform Yas-

kawa of the matter when placing an order. Be sure to con-
NOTE tact your Yaskawa representative (listed on the back cover
of this instruction manual) to perform a wall/ceiling installa-
tion on site.
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3.4 Location
3.4 Location
When installing a manipulator, it is necessary to satisfy the following
environmental conditions:
• Ambient Temperature: 0° to +45°C

• Humidity: 20 to 80%RH (non-condensing)
• Free from dust, soot, oil, or water
• Free from corrosive gas or liquid, or explosive gas or liquid.
• Free from excessive vibration (4.9 m/s2 [0.5G] or less)
• Free from large electrical noise (plasma)
• The flatness for installation is 0.5 mm or less
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MH6D-10/MH6F-10 4 Wiring
4.1 Grounding
4 Wiring
WARNING
• Ground resistance must be 100 Ω or less.
Failure to observe this warning may result in fire or electric shock.
• Before wiring, make sure to turn the primary power supply off, and
put up a warning sign. (ex. DO NOT TURN THE POWER ON.)
Failure to observe this warning may result in fire or electric shock.
CAUTION
• Wiring must be performed by authorized or certified personnel.
Failure to observe this caution may result in fire or electric shock
4.1 Grounding
Follow the local regulations and electrical installation standards for
grounding. A wire of 5.5 mm2 or more is recommended.
Refer to Fig. 4-1 Grounding Method on page 4-1 to connect the ground
line directly to the manipulator.
• Never use this wire sharing with other ground lines or

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

Delivered with the manipulator
ViewA
4-1
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4.2 Cable Connection

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

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

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

2BC
X21
2BC
X21
2BC
Power cable
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Fig. 4-3(a): Manipulator Cable Connectors (Manipulator Side)
2BC
1BC
3BC
YB-100
38-100mm2 10.0Nm
250V 240A
Connector details
(Manipulator side)
Fig. 4-3(b): Manipulator Cable Connectors (DX100 Side)
X11
X21
Fig. 4-3(c): Manipulator Cable Connectors (FS100 Side)
X21 X11
Back View
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MH6D-10/MH6F-10 5 Basic Specifications
5.1 Basic Specifications
5 Basic Specifications
5.1 Basic Specifications

Table 5-1: Basic Specificationsa)
Item Model MOTOMAN-MH6D-10/MH6F-10
Structure Vertically Articulated
Degree of Freedom 6
Payload 10 kg
Repeatability*b) ±0.08 mm
Range of Motion S-Axis (turning) -170° − +170°
L-Axis (lower arm) -90° − +155°
U-Axis (upper arm) -175° − +250°
R-Axis (wrist roll) -180° − +180°
B-Axis (wrist pitch/yaw) -45° − +225°
T-Axis (wrist twist) -360° − +360°
Maximum Speed S-Axis 2.44 rad/s, 140°/s
L-Axis 2.27 rad/s, 130°/s
U-Axis 2.36 rad/s, 135°/s
R-Axis 4.71 rad/s, 270°/s
B-Axis 4.71 rad/s, 270°/s
T-Axis 6.98 rad/s, 400°/s
Allowable Momentc) R-Axis 12.2•m (1.25 kgf•m)
B-Axis 14.2 N•m (1.45 kgf•m)
T-Axis 7.3 N•m (0.75 kgf•m)
Allowable Inertia R-Axis 0.24 kg•m2

(GD2/4)
B-Axis 0.21 kg•m2
T-Axis 0.06 kg•m2
Approx. Mass 130 kg
Ambient Conditions Temperature 0° to 45°C
Humidity 20 to 80% RH at constant temperature
Vibration Acceleration Less than 4.9 m/s2 (0.5 G)
Others •Free from corrosive gas or liquid, or explosive gas.

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

b Conformed to ISO9283
c Refer to chapter 6.1 “Allowable Wrist Load” at page 6-1 for details on the permissible moment of
inertia.
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5.2 Part Names and Working Axes
5.2 Part Names and Working Axes

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

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

Fig. 5-3: Dimensions and P-Point Maximum Envelope
(YR-MH00006- A30, -A31)
170 422
81
R1
R3
R2
170 70
1422
1122
381
349
152
637
309
1722
141
150 640 95
155
P-point
83
188 199
P-point maximum
envelope
614
90
250
681
155
352
450
0
5
204
316
175
764
538
501
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5.5 Alterable Operating Range
5.5 Alterable Operating Range

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

Item Specifications
S-Axis Operating -170° - +170° (standard)
Range -150° - +150°
-135° - +135°
-120° - +120°
-105° - +105°
-90° - +90°
-75° - +75°
-60° - +60°
-45° - +45°
-30° - +30°
-15° - +15°
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MH6D-10/MH6F-10 6 Allowable Load for Wrist Axis and Wrist Flange
6.1 Allowable Wrist Load
6 Allowable Load for Wrist Axis and Wrist Flange

The allowable wrist load is 10 kg. 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 6-3 Allowable Wrist Load. Contact your Yaskawa representative for
further information or assistance.
Table 6-3: Allowable Wrist Load

Axis Moment N•m (kgf•m)a) GD2/4 Total Moment of Inertia
kg•m2
R-Axis 11.8 (1.2) 0.27
B-Axis 8.8 (1.0) 0.27
T-Axis 5.9 (0.6) 0.06
a ( ): Gravitational unit
When the volume load is small, refer to the moment arm rating shown in
Fig.6-4 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. 6-4: Moment Arm Rating
LB
Load gravity
100
position
150
100
LT
LT (mm)
R-, T-axes rotation W=6kg

center line
25
B-axis rotation center line W=10kg
145 167
0 100 150 200
LB (mm)
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Fig. 6-5: The Diagram Moment/Inertia for R-axis
15
12.2
Moment (Nm)
10
0 0.24 0.483
0 0.2 0.4 0.6
GD2/4 (kgm2)
Fig. 6-6: The Diagram Moment/Inertia for B-axis
15
14.2
Moment (Nm)
10
0 0.21 0.37
0 0.1 0.2 0.3 0.4
GD2/4 (kgm2)
Fig. 6-7: The Diagram Moment/Inertia for T-axis
9
7.3
Moment (Nm)
0 0.06 0.14
0 0.05 0.1 0.15
GD2/4 (kgm2)
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6.2 Wrist Flange
6.2 Wrist Flange

The wrist flange dimensions are shown in Fig.6-8 Wrist Flange. In order
to see the alignment marks, it is recommended that the attachment be
mounted inside the fitting. Fitting depth of inside and outside fittings must
be 5 mm or less.
Fig. 6-8: Wrist Flange
Tapped holes M6
(depth:9 mm) (pitch:1.0) (4 holes)
45
P.C
.D4
0
+0.015
6 dia. 0
(depth: 6 mm)
6
6
+0.021
50 dia. -0.039
0
0
Units: mm
25 dia.
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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MH6D-10/MH6F-10 7 System Application
7.1 Peripheral Equipment Mounts
7 System Application
7.1 Peripheral Equipment Mounts

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

• The allowable load on the U-axis is a maximum of 15 kg, including
the wrist load.
For instance, when the mass installed in the wrist point is 6 kg, the
mass which can be installed on the upper arm becomes 9 kg.
• The allowable load on the S-axis is a maximum of 20 kg. Install the
peripheral equipment on the S-axis so that the moment of inertia
(GD2/4) from the S-axis rotation center becomes 1.25 kgm2 or less.
7.1.2 Installation Position

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

(pitch: 1.5) (depth: 20)
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7.2 Internal User I/O Wiring Harness and Air Line
Fig. 7-2: Allowable Load on U-axis

X Direction Restriction
20
15
Weight W2 (kg)
W1=0kg
10
W1=5kg
5
W1=10kg
0
-200 -100 0 100 200 300 400
Distance between U-Axis Rotation Center and Load Gravity (mm)

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

harness on U-axis: JL05-2A20-29SC
(socket connector with a cap).
Prepare pin connector JL05-6A20-29P.
Exhaust port A
Tapped holes PT3/8
with pipe plug
A
Exhaust port B
Tapped holes PT3/8
with pipe plug
Air inlet A
Tapped hole PT3/8
with pipe plug
2BC
Air inlet B
1BC Tapped hole PT3/8
with pipe plug
3BC
Connector for internal user I/O wiring

harness on S-axis: JL05-2A20-29PC
(pin connector with a cap).
Prepare socket connector JL05-6A20-29S.
View A
Fig. 7-4: Details of Connector Pin Numbers
Connector for Internal User I/O Wiring Harness Connector for Internal User I/O Wiring Harness
on the Connector Base on the U-arm
1 1 Note: DX100:Shock sensor signal input
2 2 FS100: Unused
3 3
4 4
5 5
6 6
7 (Open) 1 7 (+24V (1A): for shock sensor) 1
Pins used 8 (Open) 2 3 Pins used 8 (See Note) 2 3
9 5 9 4 5
4 6 6
10 7 8 10 7 8
11 (0.75mm22) 9 10 11 (0.75mm2) 9 10
12 (0.75mm ) 11 12 12 (0.75mm2) 11 12
13 (1.25mm2) 13 14 13 (1.25mm ) 2 13 14
14 (1.25mm2) 14 (1.25mm2)
15 (1.25mm2) 15 16 15 (1.25mm2) 15 16
16 (1.25mm2) 16 (1.25mm2)
Internal user I/O wiring harness : 0.2 mm2, 8 lead wires Internal user I/O wiring harness : 0.2 mm2, 8 lead wires
: 0.75 mm2, 2 lead wires : 0.75 mm2, 2 lead wires
: 1.25 mm2, 4 lead wires : 1.25 mm2, 4 lead wires
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• For the standard specification, the pins No.7 and No.8 of

3BC connector on the U-Arm are respectively
connected with the shock sensor power supply and
shock sensor signal input port of the DX100/FS100
controller.
NOTE • The pins No.7 and No.8 of respective 3BC connectors
on the connector base side and the U-Arm side are not
connected with each other.
• For the wiring, refer to fig. 8-3(a) Internal Connection
Diagram (DX100) on page 8-3 and fig. 8-3(c) Internal
Connection Diagram (FS100) on page 8-5.
The same pin-number connectors (1 to 16) at both connector base part

and arm part are connected with the single wire lead of 0.2 mm2, 0.75
mm2 or 1.25 mm2.
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MH6D-10/MH6F-10 8 Electrical Equipment Specification
8.1 Location of Limit Switch
8 Electrical Equipment Specification
8.1 Location of Limit Switch

The limit switches are optional. See Fig.8-1 Location of Limit Switches.
The overrun limit switches (the S- and L-axis overrun limit switches and
the LU-axes interference limit switch) can be mounted only if the
manipulator type are YR-MH00006D-A31 and YR-MH0006F-A31.
Fig. 8-1: Location of Limit Switches
L-and U-axes interference L.S.
(optional)
L-axis overrun L.S.

(optional)
S-axis overrun L.S.

(optional)
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MH6D-10/MH6F-10 8 Electrical Equipment Specification
8.2 Internal Connections
8.2 Internal Connections

Highly reliable connectors are equipped on each connection part of the
manipulator to enable easy removal and installation for maintenance and
inspection. For the number and location of connectors, see Fig.8-2
Location and Numbers of Connectors and Table 8-1 List of Connector
Types.
Diagrams for internal connections of the manipulator are shown in " fig. 8-
3(a) Internal Connection Diagram (DX100) on page 8-3, fig. 8-3(b) Internal
Connection Diagram (DX100) on page 8-4 , fig. 8-3(c) Internal Connection
Diagram (FS100) on page 8-5 and fig. 8-3(d) Internal Connection Diagram
(FS100) on page 8-6.
Fig. 8-2: Location and Numbers of Connectors
3BC (for internal user
I/O wiring harness)
3BC (for internal user I/O

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

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

Casing
CN4-6 P LB1 CN4-1 CN4-1 24V(1A) SS1
CN4-6
CN4-2 CN4-2 SS2 SS2
Crimped E C
CN4-2 CN4-2 SS2
CN4-7 P CN4-7 E E E
AL1 Contact-Pin
CN2-1 CN2-1 SPG+3
No.16CN
3BC(20-29)
Base 3BC(20-29)
16CN-1 DATA+3
CN2-2 P CN2-2 SPG-3 P -2 DATA-3 E E E E
-6 BAT Unused
P -5 OBT PG U-AXIS 3BC-1 1 1 1 1 1 1 3BC-1
CN2-3 CN2-3 FG3 -4 +5V -2 2 2 2 P 2 2 P 2 -2
P -9 0V -3 3 3 3 3 3 3 -3
-10 FG3 -4 4 4 4 P 4 4 P 4 -4
-5 5 5 5 5 -5
-6 6 6 6 P 6 -6
No.9CN
-7 7 7 SS1 SS1 SS1 7 -7
CN2-6 CN2-6 SPG+4 9CN-1 DATA+4
-8 8 8 SS2 P SS2 SS2 P 8 -8
CN2-7 P CN2-7 SPG-4 P -2 DATA-4 -9 9 9 -9
1BC(10X4) -3 BAT -10 10 P 10 -10
P -4 OBT PG R-AXIS -11 11 11 -11
CN2-8 CN2-8
FG4
10CN-1 +5V -12 12 12 -12
P -2 0V -13 13 13 -13
-3 FG4 -14 14 14 -14
CN2-10 CN2-10 +24V
OBT -15 15 15 -15
P BAT -16 16 16 -16
No.13CN No.1CN
CN3-1 CN3-1 SPG+5 -1 DATA+5 1CN-1 DATA+5
CN3-2 P CN3-2 SPG-5 P -7 DATA-5 P -2 DATA-5
-2 BAT -3 BAT
CN3-3 CN3-3
FG5
-8 OBT P -4 OBT PG B-AXIS
-3 +5V 2CN-1 +5V
CN2-4 CN2-4 P -9 0V P -2 0V
SPG+7 -3 FG5
CN2-5 P CN2-5 SPG-7
OBT
CN2-9 CN2-9 BAT
FG7
No.3CN
CN3-6 CN3-6 SPG+6 -4 DATA+6 3CN-1 DATA+6
CN3-7 P CN3-7 SPG-6 P -10 DATA-6 P -2 DATA-6
-3 BAT
-4 OBT PG T-AXIS
CN3-8 CN3-8 -5 +5V 4CN-1 +5V
FG6
P -11 0V P -2 0V
-6 FG6 -3 FG6
CN4-3 CN4-3 BC2 OBT

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

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

CN3-9 CN3-9
CN3-10 P CN3-10
0V
+5V
A1 LB1 P LB3
A3
CN4-4 CN4-4 +24V LC1 LD1 LD2 LC3
CN4-5 P CN4-5 LD1 LD1 P LD3
CN4-9 CN4-9 FG8
B3
B1
E
E
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Fig. 8-3(b): Internal Connection Diagram (DX100)
E E E
Base Casing
E E E
3BC(20-29) 3BC(20-29)
E E
3BC-1 1 1 1 1 1 1 3BC-1
-2 2 2 2 P 2 2 P 2 -2
-3 3 3 3 3 3 3 -3
-4 4 4 4 P 4 4 P 4 -4 For Spare Cable
-5 5 5 5 5 -5
-6 6 6 6 P 6 -6
-7 7 7 SS1 SS1 SS1 SS1 7 -7 C
-8 8 8 SS2 SS2 P SS2 SS2 P 8 -8
-9 9 9 -9
-10 10 P 10 -10 Shock Sensor
-11 11 11 -11 (Optional)
-12 12 12 -12
-13 13 13 -13
-14 14 14 -14
-15 15 15 -15
-16 16 16 -16
2BC(6X6)
E
E
No.20CN
CN1-1 CN1-1 ME1 20CN-3 MU1
CN1-2 CN1-2 ME2 -2 MV1
SM S-AXIS
CN1-3 CN1-3 ME2 -1 MW1
CN1-4 CN1-4 MU1 -PE ME1
CN1-5 CN1-5 MV1 -4 BA1
CN1-6 CN1-6 MW1 -5 BB1 YB
No.21CN
CN2-1 CN2-1 MU2 21CN-3 MU2
CN2-2 CN2-2 MV2 -2 MV2
SM
CN2-3 CN2-3 MW2 -1 MW2 L-AXIS
CN2-5 CN2-5 MV2 -4 BA2
No.17CN
CN3-1 CN3-1 MU3 17CN-3 MU3
CN3-2 CN3-2 MV3 -2 MV3
SM
CN3-3 CN3-3 MW3 -1 MW3 U-AXIS
CN3-5 CN3-5 MV4 -4 BA3
No.11CN
CN4-1 CN4-1 MU5 11CN-1 MU4
2BC(6X6) CN4-2 CN4-2 MV5 -2 MV4
SM R-AXIS
CN4-3 CN4-3 MW5 -3 MW4
CN4-4 CN4-4 MU6 -4 ME4
CN4-5 CN4-5 MV6 -1 BA4
No.14CN No.12CN No.5CN
CN5-1 CN5-1 ME3 14CN-1 MU5 5CN-1 MU5
CN5-2 CN5-2 ME4 -2 MV5 -2 MV5
SM B-AXIS
CN5-3 CN5-3 ME5 -3 MW5 -3 MW5
CN5-4 CN5-4 ME6 -4 ME5 -4 ME5
CN5-5 CN5-5 BA1 -1 BA5
CN5-6 CN5-6 BB1 -2 BB5 YB
No.6CN
No.7CN
CN6-1 CN6-1 BA2 -5 MU6 7CN-1 MU6
CN6-2 CN6-2 BA3 -6 MV6 -2 MV6
SM T-AXIS
CN6-3 CN6-3 BA4 -7 MW6 -3 MW6
CN6-4 CN6-4 BB4 -8 ME6 -4 ME6
CN6-5 CN6-5 BA5 -1 BA6
CN6-6 CN6-6 BA6 15CN-1 BA5 -2 BB6 YB
-2 BB5 No.8CN
-3 BA6
-4 BB6
No.15CN
PE
(10)/1C
(10)/1C
(10)/1C
E-WRCT(60sq)
(10)/1C
(10)/1C
(10)/1C
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Fig. 8-3(c): Internal Connection Diagram (FS100)
<Notes>
1.For the limit switch specification, the connection of the section A B are changed as follows:
LC1 LC1
LD1 LD1 LD1 S-AXIS OVERRUN L.S. Connected to B1
LD1 LC2
LD2 L-AXIS OVERRUN L.S. Connected to B2
LC3
LD3 L AND U-AXIS INTERFERENCE L.S. Connected to B3
LA1 LA1
0BT 1 0BAT11 17 0BAT1 LB1 LB1 LB1
K R P BAT 2 BAT11 18 BAT1 S-AXIS OVERRUN L.S. Connected to A1
0BT 3 0BAT12 19 0BAT2 LB1 LA2
K R P BAT 4 BAT12 20 BAT2 LB2 A2
21 0BAT3
L-AXIS OVERRUN L.S. Connected to
22 BAT3 LA3
23 LB3 Connected to A3
24
L AND U-AXIS INTERFERENCE L.S.
0BT 5 0BAT21 25 0BAT4 SLU-axes with Limit Switch Specification
K R P BAT 6 BAT21 26 BAT4
0BT 7 0BAT22 27 LC1 LC1
K R P BAT 8 BAT22 28 LD1 LD1 S-AXIS OVERRUN L.S. Connected to B1
29 LD1 LC2
30
1 31 LD2 LD2
2 32 LD2 LC3
3 1 PG0V1 LD1 LD3
4 2 PG5V1
5 3 PG0V2 LA1 LA1
6 4 PG5V2 LB1 LB1
7 5 PG0V3
LB1 LA2 S-AXIS OVERRUN L.S. Connected to A1
8 6 PG5V3 P LB2 A2 LB1 LA2
7 PG0V4 LB2 LB2
8 PG5V4 LB2 LA3
1BC(10X4) 9 PG0V5 LD1 LC2
P LD2 B2 LB1 LB3
FS100 B2 CN1-5 +24V 1
10
11
PG5V5
PG0V6
B1 P CN1-4 0V 3 12 PG5V6 S-axis with Limit Switch Specification
13
B4 CN1-10 +24V 2 14
B3 P CN1-9 0V 4 15
16 No.22CN No.18CN
A1 CN1-1 SPG+1 22CN-1 DATA+1 18CN-1 DATA+1
A2 P CN1-2 SPG-1 P -2 DATA-1 P -2 DATA-1
-6 BAT -6 BAT
P -5
-4
OBT
+5V
P -5
-4
OBT
+5V
PG S-AXIS
P -9 0V P -9 0V
A3 CN1-3 -7 FG1 -10 FG1
FG1
No.23CN No.19CN
A4 CN1-6 SPG+2 23CN-1 DATA+2 19CN-1 DATA+2
A5 P CN1-7 SPG-2 P -2 DATA-2 P -2 DATA-2
-6 BAT -6 BAT
P -5
-4
OBT
+5V
P -5
-4
OBT
+5V
PG L-AXIS
P -9 0V P -9 0V
A6 CN1-8 FG2 -7 FG2 -10 FG2
D3 CN4-1 +24V
D4 P CN4-6 OT_1+
B5 CN4-2 NC
D1 P CN4-7 NC
No.16CN
C1 CN2-1 SPG+3 16CN-1 DATA+3
C2 P CN2-2 SPG-3 P -2 DATA-3
-6 BAT
P -5 OBT PG U-AXIS
C3 CN2-3 FG3 -4 +5V
P -9 0V
-10 FG3
No.9CN
C4 CN2-6 SPG+4 9CN-1 DATA+4
C5 P CN2-7 SPG-4 P -2 DATA-4
1BC -3 BAT
P -4 OBT PG R-AXIS
C6 CN2-8 FG4 10CN-1 +5V
P -2 0V
-3 FG4
F1 CN2-10 OT_1-
OBT
P BAT
No.13CN No.1CN
E1 CN3-1 SPG+5 -1 DATA+5 1CN-1 DATA+5
E2 P CN3-2 SPG-5 P -7 DATA-5 P -2 DATA-5
-2 BAT -3 BAT
E3 CN3-3
FG5
-8 OBT P -4 OBT PG B-AXIS
-3 +5V 2CN-1 +5V
D5 CN2-4 P -9 0V P -2 0V
D6 P CN2-5 NC -3 FG5
NC
OBT
B6 CN2-9 BAT
NC
No.3CN
E4 CN3-6 SPG+6 -4 DATA+6 3CN-1 DATA+6
E5 P CN3-7 SPG-6 P -10 DATA-6 P -2 DATA-6
-3 BAT
-4 OBT PG T-AXIS
E6 CN3-8 FG6 -5 +5V 4CN-1 +5V
P -11 0V P -2 0V
-6 FG6 -3 FG6
F6 CN4-3 LAMP- OBT
D2 P CN4-8 BAT
NC
F2 CN4-10 0V U
P V FOR LAMP(OPTION)
G1 CN3-4 NC
G2 P CN3-5 NC
G3 CN3-9 LA1 LB1 LB2 LB2 LA3

P CN3-10 NC
A1 LB1 P LB3
F3 NC A3
G4 CN4-4 OT_2+ LC1 LD1 LD2 LD2 LC3
G5 P CN4-5 OT_2- LD1 P LD3
G6 CN4-9 B3
NC
B1
E E
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Fig. 8-3(d): Internal Connection Diagram (FS100)
E E E
Base Casing
3BC(20-29) 3BC(20-29)
E E E E E
3BC-1 1 1 1 1 1 1 3BC-1
-2 2 2 2 P 2 2 P 2 -2
-3 3 3 3 3 3 3 -3
-4 4 4 4 P 4 4 P 4 -4
-5 5 5 5 5 -5
-6 6 6 6 P 6 -6
-7 7 7 SS1 SS1 SS1 SS1 7 -7
-8 8 8 SS2 SS2 P SS2 SS2 P 8 -8 For Spare Cable
-9 9 9 -9
-10 10 P 10 -10
-11 11 11 -11
-12 12 12 -12
-13 13 13 -13
-14 14 14 -14
-15 15 15 -15
-16 16 16 -16
2BC(6X6)
E
E
No.20CN
A5 CN1-1 ME1 20CN-3 MU1
H6 CN1-2 ME2 -2 MV1
G6 CN1-3 SM S-AXIS
ME2 -1 MW1
A2 CN1-4 MU1 -PE ME1
A3 CN1-5 MV1 -4 BA1
A4 CN1-6 MW1 -5 BB1 YB
No.21CN
B6 CN2-1 MU2 21CN-3 MU2
D6 CN2-2 MV2 -2 MV2
SM L-AXIS
F6 CN2-3 MW2 -1 MW2
A6 CN2-4 MU2 -PE ME2
C6 CN2-5 MV2 -4 BA2
E6 CN2-6 MW2 -5 BB2 YB
No.17CN
H5 CN3-1 MU3 17CN-3 MU3
H4 CN3-2 MV3 -2 MV3
H3 CN3-3 SM U-AXIS
MW3 -1 MW3
H1 CN3-4 MU4 -PE ME3
G1 CN3-5 MV4 -4 BA3
F1 CN3-6 MW4 -5 BB3 YB
No.11CN
D1 CN4-1 MU5 11CN-1 MU4
2BC C1 CN4-2 MV5 -2 MV4
B1 CN4-3 SM R-AXIS
MW5 -3 MW4
C2 CN4-4 MU6 -4 ME4
C3 CN4-5 MV6 -1 BA4
C4 CN4-6 MW6 -2 BB4 YB
No.14CN No.12CN No.5CN
H2 CN5-1 ME3 14CN-1 MU5 5CN-1 MU5
E1 CN5-2 ME4 -2 MV5 -2 MV5
A1 CN5-3 ME5 -3 MW5 -3 MW5 SM B-AXIS
C5 CN5-4 ME6 -4 ME5 -4 ME5
D5 CN5-5 BA1 -1 BA5
D4 CN5-6 BB1 -2 BB5 YB
No.6CN
No.7CN
D3 CN6-1 BA2 -5 MU6 7CN-1 MU6
E5 CN6-2 BA3 -6 MV6 -2 MV6
E3 CN6-3 -7 SM T-AXIS
BA4 MW6 -3 MW6
E2 CN6-4 BB4 -8 ME6 -4 ME6
F5 CN6-5 BA5 -1 BA6
F3 CN6-6 BA6 15CN-1 BA5 -2 BB6 YB
-2 BB5 No.8CN
-3 BA6
-4 BB6
No.15CN
PE
E-WRCT (60sq)
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MH6D-10/MH6F-10 9 Maintenance and Inspection
9.1 Inspection Schedule
9 Maintenance and Inspection
WARNING
• Before maintenance or inspection, be sure to turn the main power
supply OFF, and put up a warning sign. (ex. DO NOT TURN THE
POWER ON.)
Failure to observe this warning may result in electric shock or injury.
CAUTION
• Maintenance and inspection must be performed by specified
personnel.
Failure to observe this caution may result in electric shock or injury.
• For disassembly or repair, contact your Yaskawa representative.
• The battery pack must be connected before removing detection
connector when maintenance and inspection.
Failure to observe this caution may result in the loss of home position
data.

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 on page 9-3.
In Table 9-1 Inspection Items on page 9-3, the inspection items are
classified into three types of operation: operations which can be
performed by personnel authorized by the user, operations to be
performed by trained personnel, and operations to be performed by
service company personnel. Only specified personnel shall perform the
inspection work.
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• The inspection interval depends on the total servo

operation time.
• The following inspection schedule is based on the case
where the manipulator is used for arc welding application.
If the manipulator is used for other application or if it is
used under special conditions, a case-by-case
examination is required.
NOTE The inspection may be conducted at shorter intervals if the
manipulator is used very frequently for the application
such as handling; in this case, contact your Yaskawa
representative.
• Speed reducers using VIGO Grease RE No.0 as
mentioned in Table 9-2 Inspection Parts and Grease
Usedmay cause sounds at the initial operation or after the
long shut down. It will be lost in two or three days of
running-in operation.
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MH6D-10/MH6F-10
Table 9-1: Inspection Items (Sheet 1 of 2)
Items1) Schedule Method Operation Inspection
Charge
12000HCycle
1000HCycle
6000HCycle
Personnel
Company
Specified
Licensee
Service
24000H
36000H
Daily
9.1
9
1 Alignment mark
• Visual Check alignment mark accordance at the home position.
Check for damage. • • •
2 External lead
• Visual Check for damage and deterioration of leads.
• • •
Inspection Schedule
• • • •
Maintenance and Inspection

3 Working area and Visual Clean the work area if dust or spatter is present. Check for damage
manipulator and outside cracks.
4 S,L,U-axes motor
• Visual Check for grease leakage.2)
• • •
5 Baseplate mounting
bolts
• Spanner,Wrench Tighten loose bolts. Replace if necessary.
• • •
9-3
6 Cover mounting screws

• Screwdriver,
Wrench
Tighten loose bolts. Replace if necessary.
• • •
7 Base connectors
• Manual Check for loose connectors.
• • •
8 BT-axes timing belt
• Manual Check for belt tension and wear.
• •
9 Wire harness in
manipulator
• Visual Multimeter Check for conduction between the main connecter of base and
intermediate connector with manually shaking the wire. Check for wear • •
(SLURBT-axes leads)) of protective spring3)
• Replace4)
•
01 Wire harness In
• Visual Multimeter Check for conduction between terminals and wear of protective
• •
HW1480151
manipulator spring.3)
(BT-axes leads)
• Replace4)
•
11 Battery pack in
manipulator
• Replace the battery pack when the battery alarm occurs or the
manipulator drove for 36000H. • •
21 S-axis speed reducer
•• Grease Gun Check for malfunction. (Replace if necessary.)
Supply grease5) (6000H cycle). See chapter 9.3.1 at page 9-10 . • •
Replace grease5)(12000H cycle). See chapter 9.3.1 at page 9-10 .
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Table 9-1: Inspection Items (Sheet 2 of 2)
162892-1CD
MH6D-10/MH6F-10
Items1) Schedule Method Operation Inspection
Charge
12000HCycle
1000HCycle
6000HCycle
Personnel
Company
Specified
Licensee
Service
24000H
36000H
Daily
31 LU-axes speed reducers
•• Grease Gun Check for malfunction. (Replace if necessary.)
Supply grease5) (6000H cycle). See chapter 9.3.2 at page 9-12 and • •
9.1
9
chapter 9.3.3 at page 9-14 .
Replace grease5)(12000H cycle). See chapter 9.3.2 at page 9-12 ,
chapter 9.3.3 at page 9-14 and chapter 9.3.5 at page 9-17
Inspection Schedule
41 RBT-axes speed
• Grease Gun Check for malfunction. (Replace if necessary.)
• •
Maintenance and Inspection

reducers Supply grease5) (6000H cycle).
See chapter 9.3.4 at page 9-16 and chapter 9.3.5 at page 9-17 .
51 T-axis gear
Supply grease5)(6000H cycle).See chapter 9.3.6 at page 9-18 . • •
9-4
61 R-axis cross roller

bearing
Supply grease5) (6000H cycle). chapter 9.3.7 at page 9-19 . • •
71 Overhaul
• •
1 Inspection No. correspond to the numbers in Fig. 9-1 Inspection Items on page 9-6.
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 chapter 9.3.8 “Notes for Maintenance” at
page 9-20.)
4 Wire harness in manipulator to be replaced at 24000H inspection.
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5 For the grease, refer to Table 9-2 Inspection Parts and Grease Used on page 9-5.
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Table 9-2: Inspection Parts and Grease Used

No. Grease Used Inspected Parts
12,13 VIGO Grease RE No.0 S-, L-, and U-axis speed reducers
14,15 Harmonic Grease SK-1A R-, B-, and T-axis speed reducers,
T-axis gear
16 Alvania EP Grease 2 R-axis cross roller bearings
The numbers in the above table correspond to the numbers in Table 9-1
Inspection Items on page 9-3.
9-5
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5
4
MH6D-10/MH6F-10
Note:
This figure shows the standard specification
manipulator in the home position.
8 B-axis
14 R-axis T-axis 15 14 B-axis 16
9-6
Fig. 9-1: Inspection Items

9 Maintenance and Inspection
4
13
13
11 4
12
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9.2 Notes on Maintenance Procedures
9.2.1 Battery Pack Replacement

The battery packs are installed in the position shown in Fig.9-2 Battery
Location. If the battery alarm occurs in the DX100/FS100, replace the
battery in accordance with the following procedure:
Fig. 9-2: Battery Location
Support
Battery pack
Connector base
Plate fastening bolt
Fig. 9-3: Battery Connection

Battery pack before replacement
See procedure 5
Connector
Board
See procedure 4
(SGDR-EFBA02A)
New battery pack

(HW0470360-A)
1. Turn OFF the DX100/FS100 main power supply.
2. Remove the plate fixing screws and the plate on the connector base,
then pull the battery pack out to replace it with the new one.
3. Remove the battery pack from the battery holder.
4. Connect the new battery pack to the unoccupied connectors on the
board.
5. Remove the old battery pack from the board.
NOTE Remove the old battery pack after connecting the new one
so that the encoder absolute data does not disappear.
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6. Mount the new battery pack on the battery holder.

7. Reinstall the plate.
– Sealed the matched parts with sealing bond. (Three Bond 1206C,
refer to Table 10-1 Spare Parts for YR-MH00006D-A30, -A31/YR-
MH0006F-A30, -A31 on page 10-1)
– Before installing the screw, apply the sealing bond on the thread part
of the screw.
NOTE Do not allow plate to pinch the cables when reinstalling the
plate.
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9.3 Notes on Grease Replenishment/Exchange Procedures

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

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

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

Hexagon socket
head plug PT1/8
S-axis speed reducer

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

port and the grease inlet are inverted.
9.3.1.1 Grease Replenishment

(Refer to Fig.9-4 S-axis Speed Reducer Diagram.)
Replenish the grease according to the following procedure:
1. Remove the hexagon socket head plugs PT1/8 from the grease inlet
and grease exhaust port.
• If grease is injected with the plugs on, the grease will leak
inside the motor and may cause a damage. Make sure to
remove the plugs before the grease injection.
NOTE
Failure to observe this instruction may result in damage to
2. Install the grease zerk PT1/8 to the grease inlet. (The grease zerk is
delivered with the manipulator.)
3. Inject the grease through the inlet using a grease gun.
– Grease type: VIGO Grease RE No. 0
– Amount of grease: 70 cc (140 cc for 1st supply)
– Air supply pressure of grease pump: 0.3 MPa or less
– Grease injection rate: 8 g/s or less
4. Move the S-axis for a few minutes to discharge the excess grease.
5. Wipe the discharged grease with a cloth. Remove the grease zerk
from the grease inlet, and reinstall the plugs to the grease inlet and
grease exhaust port.
Before installing the plugs, apply Three Bond 1206C on the thread part
of each plug, then tighten the plugs with a tightening torque of 4.9 N•m
(0.5 kgf•m).
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9.3.1.2 Grease Exchange

(Refer to Fig. 9-4 S-axis Speed Reducer Diagram on page 9-10.)
1. Remove the hexagon socket head plug PT 1/8 from the grease
exhaust port.
• If grease is injected with the plug on, the grease will leak
remove the plug before the grease injection.
NOTE
2. Install the grease zerk PT1/8 to the grease inlet.

(The grease zerk is delivered with the manipulator.)
3. Inject the grease through the grease inlet using a grease gun.
– Amount of grease: approx. 450 cc
4. The grease exchange is complete when new grease appears from the
exhaust port. (The new grease can be distinguished from the old
grease by color.)
5. Move the S-axis for a few minutes to discharge the excess grease.
6. Wipe the discharged grease with a cloth. Remove the grease zerk
from the grease inlet, then reinstall the hexagon socket head plug PT
1/8 to the inlet and exhaust port.
Before installing the plugs, apply Three Bond 1206C on the thread
part of each plug, then tighten the plug with a tightening torque of 4.9
N•m (0.5 kgf•m).
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9.3.2 Grease Replenishment/Exchange for L-axis Speed Reducer

Fig. 9-5: L-axis Speed Reducer Diagram
Grease exhaust port
Hexagon socket head plug PT1/8
L-arm
Grease inlet
Hexagon socket head cap screw M6
NOTE For ceiling-mounted manipulators, the grease exhaust port

and the grease inlet are inverted

(Refer to Fig.9-5 L-axis Speed Reducer Diagram.)
1. Make the L-arm vertical to ground.
exhaust port.
3. Remove the hexagon socket head cap screw M6 from the grease inlet.
• If grease is injected with the exhaust plug on, the grease

will leak inside the motor and may cause a damage. Make
sure to remove the plug before the grease injection.
NOTE
4. Install the grease zerk A-MT6 x 1 to the grease inlet. (The grease zerk
is delivered with the manipulator.)
5. Inject grease through the grease inlet using a grease gun.
6. Move the L-axis for a few minutes to discharge the excess grease.
7. Remove the grease zerk from the grease inlet and reinstall the screw.
Before installing the screw, apply Three Bond 1206C on the thread
part of each screw, then tighten the screw with a tightening torque of
10 N•m (1.0 kgf•m).
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8. Wipe the discharged grease with a cloth and reinstall the hexagon
socket head plug PT 1/8 to the exhaust port.
Before installing the plug, apply Three Bond 1206C on the thread part
of each plug, then tighten the plug with a tightening torque of 4.9 N•m
(0.5 kgf•m).

(Refer to Fig. 9-5 L-axis Speed Reducer Diagram on page 9-12.)
1. Make the L-arm vertical to ground.
exhaust port.
3. Remove the hexagon socket head cap screw M6 from the grease inlet.
• If grease is injected with the exhaust plug on, the grease

will leak inside the motor and may cause a damage. Make
sure to remove the plug before the grease injection.
NOTE
4. Install the grease zerk A-MT6 x 1 to the grease inlet.

(The grease zerk is delivered with the manipulator.)
– Amount of grease: approx. 420 cc
6. The grease discharge is complete when new grease appears from the
exhaust port. The new grease can be distinguished from the old
grease by color.
7. Move the L-axis for a few minutes to discharge the excess grease.
8. Remove the grease zerk from the grease inlet and reinstall the
hexagon socket head cap screw M6 to the grease inlet.
10 N•m (1.0 kgf•m).
9. Wipe the discharged grease with a cloth and reinstall the plug to the
exhaust port.
Before installing the plugs, apply Three Bond 1206C on the thread part
(0.5 kgf•m).
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9.3.3 Grease Replenishment/Exchange for U-axis Speed Reducer

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

Hexagon socket head
cap screw M6
U-axis speed reducer
Grease inlet
Hexagon socket head
plug PT1/8
NOTE For ceiling-mounted manipulators, the grease exhaust port

and the grease inlet are inverted.

(Refer to Fig.9-6 U-axis Speed Reducer Diagram.)
1. Make the U-arm horizontal to ground.
2. Remove the hexagon socket head cap screw M6 from the grease
exhaust port.
3. Remove the hexagon socket head plug PT 1/8 from the grease inlet.
• If grease is injected with the bolt on, the grease will leak
remove the bolt before the grease injection.
NOTE
6. Move the U-axis for a few minutes to discharge the excess grease.
7. Remove the grease zerk from the grease inlet and reinstall the plug.
(0.5 kgf•m)
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socket head cap screw M6 to the exhaust port.
10 N•m (1.0 kgf•m).

(Refer to Fig. 9-6 U-axis Speed Reducer Diagram on page 9-14.)
1. Make the U-arm horizontal to ground.
2. Remove the hexagon socket head cap screw M6 from the grease
exhaust port.
3. Remove the hexagon socket head plug PT 1/8 from the grease inlet.
• If grease is injected with the bolt on, the grease will leak
remove the bolt before the grease injection.
NOTE
– Amount of grease: approx.200 cc
6. The grease discharge is complete when new grease appears from the
exhaust port. The new grease can be distinguished from the old
grease by color.
7. Move the U-axes for a few minutes to discharge the excess grease.
hexagon socket head plug PT 1/8.
(0.5 kgf•m).
socket head cap screw M6 to the exhaust port.
10 N•m (1.0 kgf•m).
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9.3.4 Grease Replenishment for R-axis Speed Reducer

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

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

5. Reinstall the plug LP-M5 on the exhaust port.
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9.3.5 Grease Replenishment for B- and T-axes Speed Reducers

Fig. 9-8: B- and T-axes Speed Reducers Diagram
Exhaust port (T-axis)
(Hexagon socket
head cap screw M6)
T-axis speed
reducer
Exhaust port (B-axis)

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

NOTE (Refer to chapter 9.3.8 “Notes for Maintenance” at
page 9-20.)
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9.3.6 Grease Replenishment for T-axis Gear
Fig. 9-9: T-axis Gear Diagram

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

2. Remove the hexagon socket head cap screw M6 from the grease inlet,
then install the grease zerk A-MT6 x 1. (The grease zerk is delivered
with the manipulator.)
(Refer to Fig.9-9 T-axis Gear Diagram)
– Amount of grease: 5 cc (10 cc for the 1st supply)
hexagon socket head cap screw M6.
part of the screw, then tighten the screw with a tightening torque of 6
N•m (0.6 kgf•m).
5. Reinstall the plug LP-M5 to the exhaust port.
Apply Three Bond 1206C to screwed parts when installing the plug.
9-18
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162892-1CD
9.3.7 Grease Replenishment for R-axis Cross Roller Bearing
Fig. 9-10: R-axis Cross Roller Bearing Diagram

R-axis cross roller bearing
Exhaust port
(Plug LP-M5)
Grease inlet
Hexagon socket head
cap screw M6
1. Remove the plug LP-M5 from the exhaust port.

2. Remove the hexagon socket head cap screw M6 from the grease inlet,
then install the grease zerk A-MT6 x 1. (The grease zerk is delivered
with the manipulator.)
(Refer to Fig.9-10 R-axis Cross Roller Bearing Diagram.
– Grease type: Alvania EP grease 2
– Amount of grease: 3 cc (6 cc for the 1st supply)
NOTE The exhaust port is used for air flow. Do not inject
excessive grease through the gear grease inlet.
hexagon socket head cap screw M6.
part of the screw, then tighten the screw with a tightening torque of 6
N•m (0.6 kgf•m).
5. Reinstall the plug LP-M5 to the exhaust port.
Apply Three Bond 1206C to screwed parts when installing the plug.
9-19
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162892-1CD
9.3.8 Notes for Maintenance
9.3.8.1 Wrist Axes

The motor and encoder units are provided with the wrist unit. To prevent
fumes from penetrating into the wrist unit, the matched parts are sealed
with sealing bond. Therefore, if the wrist cover is disassembled, be sure to
reapply the sealing bond when reassemble the cover. (Three Bond
1206C, refer to Table 10-1 Spare Parts for YR-MH00006D-A30, -A31/YR-
MH0006F-A30, -A31 on page 10-1 .)
Fig. 9-11: Sealing Para of Wrist Unit
Cover
Cover jointing face
Cover jointing face

Cover
9.3.8.2 Battery Pack Connection

Before removing the encoder connector (with CAUTION label), connect
the battery pack referring to the following figures.(Fig.9-12(a Battery Pack
Connector Diagram for SLU-axes, fig. 9-12(b) Battery Pack Connector
Diagram for RBT-axes on page 9-21)
Fig. 9-12(a): Battery Pack Connector Diagram for SLU-axes
Motor
Power connector
Encoder connector
OBT b a OBT*
BAT a b BAT*
Battery pack: HW9470932-A

Connector for battery backup
9-20
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Fig. 9-12(b): Battery Pack Connector Diagram for RBT-axes
Encoder
Motor
Motor cable etc.
Internal wire
Power connector
Connect
b OBT4
OBT a a BAT4
BAT b
removing connector.
to save the data before
Connect battery to encoder
CAUTION
Encoder connector Battery pack
(HW9470932-A)
CAUTION label
OBT a b OBT4
BAT b a BAT4
CAUTION label (Enlarged view)

a: Crimped contact-pin (socket)
b: Crimped contact-pin (pin)
CAUTION
Connect battery to encoder
to save the data before
removing connector.
9-21
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MH6D-10/MH6F-10 10 Recommended Spare Parts
10 Recommended Spare Parts

It is recommended to keep the parts and components in the following table
in stock as spare parts for the MOTOMAN-MH6D-10/MH6F-10. Product
performance cannot be guaranteed when using spare parts from any
company other than Yaskawa. The spare parts are ranked as follows:
• Rank A: Expendable and frequently replaced parts
• Rank B: Parts for which replacement may be necessary as a result of
frequent operation
• Rank C: Drive unit
NOTE For replacing parts in Rank B or Rank C, contact your

Yaskawa representative.
Table 10-1: Spare Parts for YR-MH00006D-A30, -A31/YR-MH0006F-A30, -A31 (Sheet 1 of 2)
Rank Parts Name Type Manufacturer Qty Qty Remarks

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

No.0
A 2 Grease Harmonic Grease Harmonic 2.5 -

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

Grease 2 Sekiyu K.K.
A 4 Liquid Gasket Three Bond Three Bond - -

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

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

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

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

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

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

Speed Reducer
10-1
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MH6D-10/MH6F-10 10 Recommended Spare Parts
Table 10-1: Spare Parts for YR-MH00006D-A30, -A31/YR-MH0006F-A30, -A31 (Sheet 2 of 2)
Rank Parts Name Type Manufacturer Qty Qty Remarks

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

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

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

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

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

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

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

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

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

AC Servomotor YR1*
HW0389297-A
C 24 Board SGDR-EFBA02A Yaskawa 1 1
10-2
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MOTOMAN-MH6D-10/MH6F-10
INSTRUCTIONS
Specifications are subject to change without notice

for ongoing product modifications and improvements.
MANUAL NO.
HW1480151 1 65/65

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Part Number: 162892-1CD

Notes for Safe Operation

Indicates a potentially hazardous

Indicates a potentially hazardous

Always be sure to follow explicitly the

Must never be performed.

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

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

• Observe the following precautions when performing teaching

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

• Observe the following precautions when performing teaching

Definition of Terms Used Often in This Manual (DX100)

Definition of Terms Used Often in This Manual (FS100)

Explanation of Warning Labels

WARNING label A WARNING label A

Nameplate: WARNING Label A:

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

4.1 Grounding .......................................................................................................................... 4-1

4.2 Cable Connection .............................................................................................................. 4-2

4.2.1 Connection to the Manipulator.............................................................................. 4-2

4.2.2 Connection to the DX100/FS100.......................................................................... 4-2

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

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

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

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

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

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

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

6.2 Wrist Flange....................................................................................................................... 6-3

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

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

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

7.1.2 Installation Position............................................................................................... 7-1

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

8.1 Location of Limit Switch ..................................................................................................... 8-1

8.2 Internal Connections .......................................................................................................... 8-2

9 Maintenance and Inspection ........................................................................................................... 9-1

9.1 Inspection Schedule........................................................................................................... 9-1

9.2 Notes on Maintenance Procedures.................................................................................... 9-7

9.2.1 Battery Pack Replacement ................................................................................... 9-7

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

9.3.1 Grease Replenishment/Exchange for S-axis Speed Reducer............................ 9-10

9.3.2 Grease Replenishment/Exchange for L-axis Speed Reducer ............................ 9-12