Multi-Purpose Robot

MOTOMAN-MH12
12 kg Payload, 6-axis Vertically Articulated

A new robot with the

fastest motion speed
in its class is born!
Fastest motion speed in 12 kg payload class
The 12 kg payload type is newly added to our product line as a
multipurpose-applicable robot. By realizing the highest motion performance
in its class, Yaskawa is contributing to the productivity development

Cable-storable hollow-shaft arm structure

Hollow shaft structure is adopted to the upper-arm (U-arm).
By storing the cables in the arm, operation restriction due to the cable interference
is reduced. Therefore, maintainability such as simplifying of the robot teaching
operation or eliminating of the cable disconnection problems, etc is improved.

Stream-lined structure
Stream-lined structure adopted to the new type arc welding purpose
robot is also applied to this multipurpose-applicable robot. And this
adoption contributes to reduce the interference area between the jigs
and workpieces. Superior performance can be delivered in handling
operations which requires rotation of the large-sized workpiece, etc.

Dimensions Units: mm : P-point Maximum Envelope

4 dia. H7 (1 hole) 22.5°
(Depth: 6 mm)
170° 44 0
10

R1
R4

56
26

128
62 dia. h6
13

50 dia.

5
45
128 Tapped holes M4 (8 holes)
Tapped holes M6 (4 holes) (Depth: 8 mm) (Pitch: 0.7)
(Depth: 14 mm) (Pitch: 1.0)
170° View A
Air inlet PT3/8
with pipe plug (A)
Air inlet PT3/8
1734 199 94.5 with pipe plug (B)
P-Point
155 640 100
100

84

U R
A Welding power source’ s terminal block
Connector for internal user I/O wiring harness:
200

JL05-2A20-29PC (with cap)

°

T B
85

Matching connector: JL05-6A20-29S

(provided by users)
View B
614

°
90 300
198.5
705 260
0° L
155°

24 240 132±0.1
2511

18 dia. 60
(4 holes)
450

299
153
102±0.1

B
S
0
300
292
260

132±0.1

C
60

361
130±0.1

17 12 dia. H7 16 dia. H7
5° (1 hole) (2 holes)

100±0.1 102±0.1
777
153±0.1
1129

848

606

206

410

1440

View C
 Multi-Purpose Robot

MOTOMAN-MH12
Control cabinet
Manipulator Specifications
Dimensions 800 (W) x 1000 (H) x 650 (D)
Items Specifications
Model MOTOMAN-MH12 Weight Approx. 180 kg
Type YR-MA1440/MH12-A00
Controlled Axis 6 (Vertically articulated) Protection class IP54
Payload 12 kg
Repeatability*1 ±0.08 mm Cooling system Indirect cooling
S -axis (turning) −170˚ − +170˚
L -axis (lower arm) −90˚ − +155˚ Ambient 0° to +45°C (operation)
Range of U -axis (upper arm) −175˚ − +240˚ temperature –10° to +60°C (transport and storage)
Motion R -axis (wrist roll) −180˚ − +180˚
B -axis (wrist pitch/yaw) −135˚ − +135˚ Relative humidity Max. 90 % non-condensating
T -axis (wrist twist) −360˚ − +360˚
S -axis (turning) 3.84 rad/s，220˚/s Power supply 3-phase 400/415/440 VAC at 50/60 Hz
L -axis (lower arm) 3.49 rad/s，200˚/s
Digital I/O 40 inputs/40 outputs (standard)
Maximum U -axis (upper arm) 3.84 rad/s，220˚/s
(Expandable to 4096 inputs/4096 outputs)
Speed R -axis (wrist roll) 7.16 rad/s，410˚/s
B -axis (wrist pitch/yaw) 7.16 rad/s，410˚/s
Analogue in/outputs 40 channels (optional)
T -axis (wrist twist) 10.6 rad/s，610˚/s
R -axis (wrist roll) 22 N･m Positioning system Absolute encoder / serial interface
Allowable
B -axis (wrist pitch/yaw) 22 N･m
Moment
T -axis (wrist twist) 9.8 N･m Program memory 200.000 steps, 10.000 instructions
Allowable R -axis (wrist roll) 0.65 kg･m2 and 15.000 PLC steps
Inertia B -axis (wrist pitch/yaw) 0.65 kg･m2
(GD2/4) T -axis (wrist twist) 0.17 kg･m2 Interface Ethernet
Approx. Mass 130 kg
Temperature 0˚C to +45˚C Color RAL 7024, Graphite grey, RAL 7026,
Humidity 20 to 80%RH (non-condensing) Granite grey, RAL 7043, Traffic Grey B
Vibration 4.9 m/s2 or less
Ambient Free from corrosive gasses or liquids,
Conditions or explosive gasses
Others Free from exposure to water, oil, or dust
Free from excessive electrical noise Programming
(plasma)
Power Requirements*2 1.5 kVA Programming INFORM III
language

Robot motion Joint motion, linear, circular,

control spline interpolation

Speed adjustement Joint motion (% of maximum)

Interpolation (mm/sec; cm/min; inch/min)

Angular velocity (°/sec)

1300 552 333

www.ragroup.com.au

YASKAWA ELECTRIC CORPORATION

In the event that the end user of this product is to be the military and said product is to be
employed in any weapons systems or the manufacture thereof, the export will fall under the
relevant regulations as stipulated in the Foreign Exchange and Foreign Trade Regulations.
Therefore, be sure to follow all procedures and submit all relevant documentation according
to any and all rules, regulations and laws that may apply.
Specifications are subject to change without notice
LITERATURE NO. CHEP C940321 30A
for ongoing product modifications and improvements. Published in Japan September 2013 13-8 1
© 2013 YASKAWA ELECTRIC CORPORATION. All rights reserved. 13-3-34