Instructions: Motoman-Mh50 Ii

MOTOMAN-MH50 II
INSTRUCTIONS
TYPE:
YR-MH00050-J00 (DX200: STANDARD SPECIFICATIONS)
Upon receipt of the product and prior to initial operation, read these instructions thoroughly, and
retain for future reference.
MOTOMAN INSTRUCTIONS
MOTOMAN-MH50 II INSTRUCTIONS
DX200 INSTRUCTIONS
DX200 OPERATOR’S MANUAL (for each purpose)
DX200 MAINTENANCE MANUAL
The DX200 operator’s manual above corresponds to specific usage. Be sure to use the appropriate manual.
Part Number: 169858-1CD

Revision: 7
MANUAL NO.
HW1482719 7
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MH50II
Copyright © 2017, 2016, 2015, 2014 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, 2014
YASKAWA America, Inc.

Motoman Robotics Division
100 Automation Way
Miamisburg, OH 45342
Phone: 937-847-6200
www.motoman.com
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MH50II
MANDATORY
• This instruction manual is intended to explain mainly on the
mechanical part of the MOTOMAN-MH50 II 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 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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MH50II
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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MH50II Notes for Safe Operation
Notes for Safe Operation

Read this manual carefully before installation, operation, maintenance, or
inspection of the MOTOMAN-MH50 II .
In this manual, the Notes for Safe Operation are classified as “DANGER”,
“WARNING”, “CAUTION”, “MANDATORY”, or “PROHIBITED”.
Indicates an imminent hazardous

DANGER situation which, if not avoided, could
result in death or serious injury to
personnel.
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

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

NOTE 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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MH50II Notes for Safe Operation
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
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 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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MH50II Definition of Terms Used Often in This Manual
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 Manipulator cable
controller
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 brand names for each company or
corporation. The indications of (R) and TM are omitted.
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MH50II Explanation of Warning Labels
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.
Fig. : Warning Label Locations
WARNING label B
WARNING label A Nameplate
Nameplate: WARNING Label A:
MODEL
WARNING
MOTOMAN-
TYPE Moving parts
PAYLOAD MASS may cause
kg kg
ORDER NO. DATE injury
SERIAL NO.
YASKAWA ELECTRIC CORPORATION

2-1 Kurosakishiroishi, Yahatanishi-ku,
Kitakyushu 806-0004 Japan WARNING Label B:
MADE IN JAPAN NJ3878
WARNING
Do not enter
robot
work area.
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MH50II Safeguarding Tips
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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MH50II 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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MH50II 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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MH50II Customer Support Information
Customer Support Information

If you need assistance with any aspect of your MH50II 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.
Please use e-mail for routine inquiries only. If you have an

NOTE 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 MH50II
• Primary Application ___________________________
• Controller DX200
• Software Version Access this information on the

Programming Pendant’s 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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MH50II Table of Contents
Table of Contents
1 Product Confirmation ...................................................................................................................... 1-1
1.1 Contents Confirmation ....................................................................................................... 1-1
1.2 Order Number Confirmation .............................................................................................. 1-2
2 Transport......................................................................................................................................... 2-1
2.1 Transport Method .............................................................................................................. 2-1
2.1.1 Using a Crane ...................................................................................................... 2-2
2.1.2 Using a Forklift...................................................................................................... 2-3
2.2 Shipping Bolts and Brackets.............................................................................................. 2-4
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
3.2.2 When the Manipulator is Mounted Directly on the Floor....................................... 3-4
3.3 Types of Mounting ............................................................................................................. 3-5
3.3.1 S-axis Operating Range ....................................................................................... 3-5
3.3.2 Fixing the Manipulator Base ................................................................................. 3-5
3.3.3 Precautions to Prevent the Manipulator from Falling............................................ 3-5
3.4 Protection Class................................................................................................................. 3-6
3.5 Location ............................................................................................................................. 3-6
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 Baseplate 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
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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
5.6 Alterable Operating Range ................................................................................................ 5-8
5.6.1 Necessary Parts ................................................................................................... 5-8
5.6.2 Notes on the S-Axis Mechanical Stopper Installation ........................................... 5-9
5.6.3 Alteration of the S-Axis Pulse Soft Limit ............................................................. 5-10
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 Location 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 LU-Axes Interference Angle......................................... 8-3
8.2 Internal Connections .......................................................................................................... 8-4
9 Maintenance and Inspection ........................................................................................................... 9-1
9.1 Inspection Schedule........................................................................................................... 9-1
9.2 Notes on Maintenance Procedures.................................................................................... 9-5
9.2.1 Battery Pack Replacement ................................................................................... 9-5
9.3 Grease Replenishment/Exchange ..................................................................................... 9-7
9.3.1 Notes on Grease Replenishment/Exchange Procedures ..................................... 9-7
9.3.2 Grease Replenishment/Exchange for S-axis Speed Reducer.............................. 9-8

9.3.2.1 Grease Replenishment............................................................................ 9-8
9.3.2.2 Grease Exchange.................................................................................... 9-9
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9.3.3 Grease Replenishment/Exchange for L-axis Speed Reducer ............................ 9-10

9.3.3.1 Grease Replenishment.......................................................................... 9-10
9.3.3.2 Grease Exchange ................................................................................. 9-11
9.3.4 Grease Replenishment/Exchange for U-axis Speed Reducer ........................... 9-12

9.3.4.2 Grease Exchange ................................................................................. 9-13
9.3.5 Grease Replenishment for R-axis Speed Reducer ............................................ 9-14

9.3.5.2 Grease Exchange ................................................................................. 9-15
9.3.6 Grease Replenishment for B- and T-axes Speed Reducer and Gear Parts....... 9-16
9.3.6.2 Grease Exchange ................................................................................. 9-17
9.4 Notes for Maintenance..................................................................................................... 9-18
9.4.1 Battery Pack Connection .................................................................................... 9-18
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-Axis Unit..................................................................................................................... 11-5
11.4 R-,B-,T-Axes Unit........................................................................................................... 11-7
11.5 Wrist Unit ....................................................................................................................... 11-9
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MH50II 1 Product Confirmation

1.1 Contents Confirmation
1 Product 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 is given separately):
• Manipulator
• DX200
• Programing Pendant
• Manipulator Cable (between the DX200 and the Manipulator)
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MH50II 1 Product Confirmation
1.2 Order Number Confirmation
1.2 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
ORDER. No. same order number
ORDER.NO.
SHOULD HAVE SAME ORDER NUMBER.
Sectional View A-A (Enlarged View)

(b) Manipulator(Top View)
(On the manipulator manufactured after Aug. 2016)
(a) DX200 (Front View)
A A

SHOULD HAVE SAME ORDER NUMBER.
ORDER.NO.
(b) Manipulator(Side View)

(On the manipulator manufactured by Jul. 2016)
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MH50II 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.
• Check that the eyebolts are securely fastened.

• The weight of the manipulator is approximately 580 kg
including the shipping bolts and brackets. Use a wire rope
strong enough to withstand the weight.
• Attached eyebolts are designed to support the manipulator
NOTE 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.
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MH50II 2 Transport
2.1.1 Using a Crane

As a rule, the manipulator should be lifted by a crane with a four-leg
brindle sling using the attached eyebolts 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
Delivered with the manipulator
Hexagon socket
head cap screw M12 (8 screws)
Factory setting for angle and pulse of each axis

Axis S L U R B T
Angle 0 -90 -80 -90 -90 0
Pulse 0 -144384 -159547 70167 68867 0
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MH50II 2 Transport
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
Shipping pracket
Delivered with the manipulator
Bolt M20 (8 bolts)

Pallet
Forklift claw entry
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MH50II 2 Transport
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. 2-1 “Transporting Position”.)
• The shipping bolts and bracket are painted yellow.
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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MH50II 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.
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 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 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 0.5 mm or less: insufficient flatness
of installation surface may deform the manipulator shape and affect its
functional abilities. Mount the manipulator base as instructed in section
3.2.1 “Mounting Example” or section 3.2.2 “When the Manipulator is
Mounted Directly on the Floor”.
Table 3-1: Manipulator Reaction Force and Torque
Horizontal rotation Vertical rotation
Reaction force FH Torque MH Reaction force FV Torque MV
Emergency stop 23544 N 24525 N•m 27468 N 45126 N•m

(2400kgf) (2500 kgf•m) (2800 kgf) (4600 kgf•m)
Acceleration/deceleration 5886 N 6131 N•m 5396 N 11282 N•m
(600 kgf) (625 kgf•m) (550 kgf) (1150 kgf•m)
Fig. 3-1: Manipulator Reaction Force and Torque

/8
(8
/*
(*
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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 50 mm 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 hexagon head screws M20
(70 mm long is recommended).
Next, fix the manipulator base to the baseplate. Tighten the hexagon
head screws and anchor bolts firmly so that they will not work loose during
the operation.
Refer to Fig. 3-2 “Mounting the Manipulator Baseplate”.
Fig. 3-2: Mounting the Manipulator Baseplate
Hexagon head screw

M20(8screws)
Spring washer
Manipulator base
Washer

Baseplate
Anchor bolt M20 or more

Flat level
0.5mm or less Baseplate
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3.2.2 When the Manipulator is Mounted Directly on the Floor

The floor should be strong enough to support the manipulator. Construct
a solid foundation with the appropriate thickness to withstand maximum
reaction forces of the manipulator. As a rough standard, when there is a
concrete thickness (floor) is 200 mm or more, the manipulator base can
be fixed directly to the floor with M 20 anchor bolts. Before mounting the
manipulator, however, check that the floor is level and that all cracks, etc.
are repaired. Any thickness less than 200 mm is insufficient for mounting,
even if the floor is concrete.
Fig. 3-3: Direct Mounting on the Floor

400 Tapped hole M20 (8 holes)
230 Bolt A
Manipulator base
320
385
600
720
 800
 900
300 300
28dia. (4 holes) (Base B)
28dia. (4 holes) (Base A)

Tapped hole M24 (4holes) (Base B)
Bolt B
Weld after adjusting

the installation
Base A
10
Base B
36
32
Leveling is required
200
FL
250
350
JA Base bolt 200

100
100
M24 X315mm
Units: mm
Bolt A: Bolt M20 X 70 mm (8 bolts),Spring Washer, Flat Washer
Bolt B: Bolt M24 X 70 mm (4 bolts),Spring Washer, Flat Washer
Tightening bolts or bases are prepared by the customer.
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3.3 Types of Mounting
3.3 Types of Mounting

The MOTOMAN-MH50 II is available in three ways: floor-mounted
(standard), wall-mounted and ceiling-mounted way. For wall-mounted and
ceiling-mounted ways, the three points listed below are different from the
floor-mounted way.
• S-axis Operating Range
• Fixing the Manipulator Base
• Precautions to Prevent the Manipulator from Falling
3.3.1 S-axis Operating Range

For wall-mounted way, the S-axis operating range is ±30°.
(The range is adjusted prior to the shipment.)
NOTE When used in the wall mounted position, install the

manipulator so that a connector base becomes the top.
3.3.2 Fixing the Manipulator Base

For wall- and ceiling-mounted ways, be sure to use eight hexagon socket
head cap screws M20 (tensile strength: 1200 N/mm2 or more) when fixing
the manipulator base. Use a torque of 402 N•m (41 kgf•m) when
tightening the screws.
3.3.3 Precautions to Prevent the Manipulator from Falling

For the wall- or ceiling-mounted ways, take appropriate measures to avoid
the falling of the manipulator in case of emergency. Refer to Fig. 3-4
“Precaution Against Falling” for details.
Fig. 3-4: Precaution Against Falling
Support for fall prevention
Manipulator base
Hexagon socket head cap
screw M20 (8 screws)
(Tensile strength: 1200 N/mm2 or more)
In case of using the wall-/ceiling-mounted way, inform

YASKAWA of the matter when placing an order. Be sure to
NOTE contact your YASKAWA representative (listed on the back
cover of this instruction manual) to perform a wall/ceiling
installation on site.
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3.4 Protection Class
3.4 Protection Class

For the standard type, environmental resistance for main part of the
manipulator conforms to IP54; the wrist part conforms to IP67.
For the main part of environmental resistance, IP65 is also available as
optional.
3.5 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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MH50II 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” 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
Bolt M8 (for grounding)

Delivered with the manipulator View A
5.5mm2 or more
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MH50II 4 Wiring
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 “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 Connectors (DX200 Side)”.
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 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
1BC
X11
X11 1BC
1BC
Encoder cable
The DX200 side The Manipulator side

2BC
X21
2BC
X21
2BC
Power cable
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MH50II 4 Wiring
Fig. 4-3(a): Manipulator Cable Connectors (Manipulator Side)
AIR
1BC
2BC
AIR
1BC
2BC
Fig. 4-3(b): Manipulator Cable Connectors (DX200 Side)
X11
X21
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MH50II 5 Basic Specifications
5.1 Basic Specifications
5 Basic Specifications
5.1 Basic Specifications

Table 5-1: Basic Specifications1)
Item Model MOTOMAN-MH50 II
Structure Vertically Articulated
Degree of Freedom 6
Payload 50 kg
Repeatability2) ±0.07 mm
Range of Motion S-Axis (turning) -180° − +180°
L-Axis (lower arm) -90° − +135°
U-Axis (upper arm) -170° − +251°
R-Axis (wrist roll) -360° − +360°
B-Axis (wrist pitch/yaw) -125° − +125°
T-Axis (wrist twist) -360° − +360°
Maximum Speed S-Axis 3.14rad/s, 180°/s
L-Axis 3.11 rad/s, 178°/s
U-Axis 3.11 rad/s, 178°/s
R-Axis 4.36 rad/s, 250°/s
B-Axis 4.36 rad/s, 250°/s
T-Axis 6.28 rad/s, 360°/s
3)
Allowable Moment R-Axis 216 N•m (22 kgf•m)
B-Axis 216 N•m (22 kgf•m)
T-Axis 147N•m (15 kgf•m)
Allowable Inertia R-Axis 28 kg•m2
(GD2/4) B-Axis 28 kg•m2
T-Axis 11 kg•m2
Approx. Mass 550 kg
Protective Structure Basic axis: IP54 or equivalent
Wrist axis only: IP67 or equivalent
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 4.0 kVA
4)
Noise 76 dB
1 SI units are used in this table. However, gravitational unit is used in ( ).
2 Conformed to ISO9283
3 Refer to section 6.1 “Allowable Wrist Load” for details on the permissible
moment of inertia.
4 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 1.2 m and 1.5 m above the ground.
- 400 mm away from the P-point maximum envelope.
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5.2 Part Names and Working Axes
5.2 Part Names and Working Axes

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

Fig. 5-2: Baseplate Dimensions
+0.018
12 dia. 0 (2 holes)
195 22 dia.(8 holes)

320
385
455
30
0.1
230
400
195
195 230
153 455
608
View A
Base dimensions
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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
0°
18
R2061
7 R5
R 37 180 43
°
View A
P-point maximum 2456

envelope
187
145 1025 175

57
210
1369 P-point
870
1807
223.5
925 343 253

3578
437
540
118
40
0 0
105 105 234 234
453 460
1771 1056 605 213 87 0 248 530 543 3832 2061 1121
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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 Stop Category 0: Stopping Angles and Times
5.5.1.1 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% Stop Category 0, Position 100%

35 0.5
30
0.4
Stopping angle[deg]
Stopping angle[deg]
25
0.3
20
15
0.2
10
0.1
5
0 0.0
0 40 80 120 160 200 0 40 80 120 160 200
Speed[deg/s] Speed[deg/s]
Load100% Load66% Load33% Load100% Load66% Load33%
(b)L-Axis

35 0.6
30
0.5
Stopping angle[deg]
Stopping angle[deg]
25
0.4
20
0.3
15
0.2
10
0.1
5
0 0.0
0 40 80 120 160 200 0 40 80 120 160 200
(c)U-Axis

35 0.5
30
0.4
25
Stopping angle[deg]
Stopping time[sec]
0.3
20
15
0.2
10
0.1
5
0 0.0
0 40 80 120 160 200 0 40 80 120 160 200
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5.5.1.2 Position 66%

(a)S-Axis

35 0.5
30
0.4
Stopping angle[deg]
Stopping angle[deg]
25
0.3
20
15
0.2
10
0.1
5
0 0.0
0 40 80 120 160 200 0 40 80 120 160 200
(b)L-Axis

35 0.6
30 0.5
Stopping time[sec]
25
0.4
Stopping time[sec]
20
0.3
15
0.2
10
0.1
5
0 0.0
0 40 80 120 160 200 0 40 80 120 160 200
(c)U-Axis

35 0.5
30
0.4
Stopping time[sec]
Stopping angle[deg]
25
0.3
20
15 0.2
10
0.1
5
0 0.0
0 40 80 120 160 200 0 40 80 120 160 200
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5.5.1.3 Position 33%

(a)S-Axis

35 0.5
30
0.4
25
Stopping angle[deg]
Stopping time[sec]
20 0.3
15
0.2
10
0.1
5
0 0.0
0 40 80 120 160 200 0 40 80 120 160 200
(b)L-Axis

35 0.6
30 0.5
25
Stopping angle[deg]
Stopping time[sec]
0.4
20
0.3
15
0.2
10
5 0.1
0 0.0
0 40 80 120 160 200 0 40 80 120 160 200
(c)U-Axis

35 0.5
30
0.4
25
Stopping time[sec]
Stopping angle[deg]
0.3
20
15
0.2
10
0.1
5
0 0.0
0 40 80 120 160 200 0 40 80 120 160 200
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5.5.2 Stop Category 1: Stopping Angles and Times
NOTE Stopping angles and times at Stop Category 1 are not

subjected to the position and the load of the manipulator.
Fig. 5-7: Stop Category 1: Stopping Angle and Time for Each Axis
(a)S-Axis
Stop Category 1 Stop Category 1
60 0.7
50 0.6
0.5
Stopping angle[deg]
Stopping time[sec]
40
0.4
30
0.3
20
0.2
10
0.1
0 0.0
0 40 80 120 160 200 0 40 80 120 160 200
Notes) Not depends on the position and the load.

(b)L-Axis

60 0.7
50 0.6
0.5
Stopping angle[deg]
Stopping time[sec]
40
0.4
30
0.3
20
0.2
10 0.1
0 0.0
0 40 80 120 160 200 0 40 80 120 160 200

(c)U-Axis

60 0.6
50 0.5
40 0.4
Stopping angle[deg]
Stopping time[sec]
30 0.3
20 0.2
10 0.1
0 0.0
0 40 80 120 160 200 0 40 80 120 160 200
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5.6 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)
-165° - +165°
-150° - +150°
-135° - +135°
-120° - +120°
-105° - +105°
-90° - +90°
-75° - +75°
-60° - +60°
-45° - +45°
-30° - +30°
-15° - +15°
5.6.1 Necessary Parts

When altering the operating range of the S-axis, following parts shown in
Fig. 5-8 “S-Axis Mechanical Stopper” are necessary in addition to the
already delivered parts.
(1) Hexagon socket head cap screw M20 (length: 40 mm)
(Tensile strength: 1200 N/mm2) x 1 screw (for the mechanical
stopper)
(2) Collar (drawing No. HW9405875-2) x 1
(3) Pin (drawing No. HW9405032-2) x 1
(4) Washer M6X3
Note:((3), (4) only): Necessary only when the manipulator is equipped with
the S-axis overrun limit switch.
Fig. 5-8: S-Axis Mechanical Stopper
Collar
HW9405875-2
Hexagon socket head cap screw M20 (length: 40 mm)

(Stopper)
Washer M6×3
(Necessary only when the manipulator is equipped
with the S-axis overrun limit switch)
Pin
HW9405032-2
(Necessary only when the manipulator is equipped
with the S-axis overrun limit switch)
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5.6.2 Notes on the S-Axis Mechanical Stopper Installation

Mount the collar (drawing No. HW9405875-2) to the hexagon socket head
screws M20 (length: 40 mm) (Tensile strength: 1200N/mm2). Then, as
shown in Fig. 5-8 “S-Axis Mechanical Stopper”, mount the S-axis
mechanical stopper to the S-head using the collar with the screws with the
tightening torque of 167 N•m (17 kgf•m).
The S-axis mechanical stopper can be mounted in every 15-degree pitch
as shown in Fig. 5-9 “S-Axis Stopper Mounting Position”.
When the manipulator is equipped with the S-axis overrun limit switches,
install the pins (drawing No. HW9405032-2) and washer M6 to the same
degree positions as the hexagon socket head screws.
Fig. 5-9: S-Axis Stopper Mounting Position
Section A-A
A A
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5.6.3 Alteration of the S-Axis Pulse Soft Limit

Apply the Instruction for “DX200 Instructions section 8.17 Changing the
Parameter Setting (165292-1CD)” as part of reference materials for
adjusting the programming pendant when modifying the range of motion
of S-Axis.
Pulse limit (positive (+) direction of the S-axis): S1CxG400
Pulse limit (negative (-) direction of the S-axis): S1CxG408
Degree 0° -15°− +15° -30°− +30° -45°− +45° -60° − +60°

Pulse 0 -21203 -42406 -63609 -84812
- - - -
+21203 +42406 +63609 +84812
Degree -75°− +75° -90°− +90° -105°− +105° -120°− +120° -135° − +135°
Pulse -106015 -127217 -148420 -169623 -190826
- - - - -
+106015 +127217 +148420 +169623 +190826
Degree -150°− +150° -165°− +165° -180° − +180° (Standard)

Pulse -212029 -233232 -254434
- - -
+212029 +233232 +254434
Please do not alter the range of motion with the software

only, but in combination with the mechanical stopper.
NOTE
Also, when executing the alteration, be sure to uniform the
range.
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MH50II 6 Allowable Load for Wrist Axis and Wrist Flange
6.1 Allowable Wrist Load
6 Allowable Load for Wrist Axis and Wrist Flange
6.1 Allowable Wrist Load

The allowable wrist load is 50 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 6-1 “Allowable Wrist Load”. Contact your YASKAWA representative
for further information or assistance.
Table 6-1: Allowable Wrist Load

Axis Moment N•m (kgf•m)1) GD2/4 Total Moment of Inertia
kg•m2
R-Axis 216 (22) 28
B-Axis 216 (22) 28
T-Axis 147(15) 11
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
10kg
1000
800 20kg
600
30kg
40kg
400
50kg
P-point
200
T- and R-axes
center of rotation
400 600 800 1000 1200 1400 1600 1800 LB(mm)
200
400
600
800
1000
1200
LT(mm) B-axis center of rotation
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MH50II 6 Allowable Load for Wrist Axis and Wrist Flange

6.2 Wrist Flange
6.2 Wrist Flange

The wrist flange dimensions are shown in Fig. 6-2 “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. 6-2: Wrist Flange
+0.012
6 dia. 0
(depth: 10mm)
80
.D.
P.C
50 dia. -0.025
42
6
100 dia. -0.022
0
Alignment mark
40
8
+0.015
8 dia 0 Tpped hole M8
Unit㸸mm (depth: 14mm) (depth:14 mm) (pitch:1.25) (6 holes)
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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MH50II 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.
Fig. 7-1: Installing Peripheral Equipment
200 513
100
50
A Tapped hole M8 (4 holes)

100
B Tapped hole M8 (4 holes)

(pitch: 1.25) (depth: 16) 180 60
(pitch: 1.25) (depth: 16)
60 60
50 50
A
100 98.5
57
187
Mount the peripheral
10
equipment with in this range
ViewA Details in instllation and tap part

223.5
C Tapped hole M12 (4 holes)

(pitch: 1.75) (depth: 18)
40
105 105
Table 7-1: Constraint for Attaching

Section Application Note
A Cable processing Up to 50 kg for attaching load mass
including wrist load.
B Cable processing and valve load Up to 10 kg.
49 N•m (5 kgf•m) max. for
increased moment amount of upper
arm
C Transfer, etc. load Up to 30 kg
(Floor-, ceiling-mounted type only)
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MH50II 7 System Application

7.2 Internal User I/O Wiring Harness and Air Line
7.2 Internal User I/O Wiring Harness and Air Line

Internal user I/O wiring harness (0.5 mm2 x 23), an air line and tube for
field bus cable are incorporated in the manipulator for the drive of
peripheral device 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 1 to 23 are assigned as shown in Fig. 7-2. Wiring
must be performed by users.
The allowable current for internal user 5.1 A or less for each wire
I/O wiring harness (The total current value for pins 1 to 23
must be 34.5A or less.)
The maximum pressure for the air line 490 kPa (5 kgf/cm2) or less
(The air line inside diameter: 8.0 mm.)
Fig. 7-2: Connectors for Internal User I/O Wiring Harness and Air Line
Connector for internal user I/O wiringharness:
JL05-2A24-28SC (socket connector with a cap). Tapped hole M4x3 (4 holes)
Prepare pin connector JL05-6A24-28P. (pitch: 0.7) (depth: 3)
Exhaust port
Tapped hole PT3/8 with pipe plug
Tube for field bus cable (inside dia.:12)(inside of the manipulator base)
Air inlet Tapped hole PT3/8 with pipe plug
Connector for internal user I/O wiringharness:

A JL05-2A24-28PC (socket connector with a cap).
Prepare pin connector JL05-6A24-28S.
Tapped hole M4x3 (4 holes)
(pitch: 0.7) (depth: 3) View A
Connector for Internal User I/O Wiring Harness

P
1
2
P
3
4 1 2 3 4
P
5
6 5 6 7 8 9
7
P
8 10 11 12 13 14 15
9
P
10 16 17 18 19 20
11
P
12 21 22 23
Pins used 13
P
14
P
15
16
P
17 Internal user I/O wiring harness :
18
19 0.5 mm2, 23 lead wires
P
20
P
21
22
23
The same pin-number connectors (1 to 23) at both connector base part

and arm part are connected with the single wire lead of 0.5 mm2.
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MH50II 8 Electrical Equipment Specification
8.1 Position of Limit Switch
8 Electrical Equipment Specification
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-axis
is 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 section 8.9 “Overrun/Tool Shock Sensor Releasing” in
“DX200 INSTRUCTIONS” 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.
In case of re-adjusting the operating range of each subject

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

The limit switches are optional. See Fig. 8-1 “Location of Limit Switches”.
Fig. 8-1: Location of Limit Switches
L-and U-axes interference L.S.
L-axis overrun L.S.
AIR
S-axis overrun L.S. 1BC
2BC
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8.1.3 Setting of Operation Range
8.1.3.1 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 -91° to +136° as mentioned in the figure below.
Fig. 8-2: L-Axis Overrun Limit Switch Setting Range
side Pos
ative itive
Neg side
L-axis center of rotation
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8.1.3.3 Setting Range of LU-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 +9° to +297° as the interference
angle with L-axis.
Fig. 8-3: LU-Axes Interference Angle
U-axis center of rotation
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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. 8-4
“Location and Numbers of Connectors” and Table 8-1 “List of Connector
Types”.
Diagrams for internal connections of the manipulator are shown in
Fig. 8-5(a) “Internal Connection Diagram” and
Fig. 8-5(b) “Internal Connection Diagram” .
Fig. 8-4: Location and Numbers of Connectors
Internal user
I/O wiring harness
AIR
1BC
2BC
2BC
1BC
Internal user
I/O wiring harness
Table 8-1: List of Connector Types

Name Type of Connector
Connector for the internal user I/O JL05-2A24-28PC
wiring harness on the connector base (JL05-6A24-28S: Optional)
Connector for the internal user I/O JL05-2A24-28SC
wiring harness on the U-arm (JL05-6A24-28P: Optional)
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MH50II 8.2 Internal Connections
Fig. 8-5(a): Internal Connection Diagram
LA1 LA1
0BT 1 0BAT11 17 0BAT1
LB1 LB1 S-AXIS OVERRUN L.S. Connected to A1 .
P BAT 2 BAT11 18 BAT1
0BT 3 0BAT12 19 0BAT2 LB1 LA2
P BAT 4 BAT12 20
21
BAT2
0BAT3
LB2 LB2 L-AXIS OVERRUN L.S. Connected to A2 .
22 BAT3 LB2 LA3
23
24 LB1 LB3 L AND U-AXIS INTERFERENCE L.S.
0BT
P BAT
5
6
0BAT21
BAT21
25
26
0BAT4
BAT4 Connected to A3 .
0BT 7 0BAT22 27 0BAT5
P BAT 8 BAT22 28 BAT5
LC1 LC1
29
30
0BAT6
BAT6
LD1 LD1 S-AXIS OVERRUN L.S. Connected to B1 .
1 31 LD1 LC2
2 32
3
4
1
2
PG0V1
PG5V1
LD2 LD2 L-AXIS OVERRUN L.S. Connected to B2 .
5 3 PG0V2 LD2 LC3
6 4 PG5V2
7 5 PG0V3
LD1 LD3 L AND U-AXIS INTERFERENCE L.S.
8 6 PG5V3
Connected to B3 .
DC/DC
7
8
PG0V4
PG5V4 SLU-axes with Limit Switch Specification
DX200 1BC(10×4)
No.24CN X
9
10
PG0V5
PG5V5
+24V CN1-5 +24V -1 +24V 1 11 PG0V6
CN1-5
0V P CN1-4 0V -3 0V 3 12 PG5V6
CN1-4
13
+24V CN1-10 +24V -2 +24V 2 14
CN1-10
0V P CN1-9 0V -4 0V 4 15
CN1-9
16 No.1CN
SPG+1 CN1-1 SPG+1 1CN-1 DATA+1
CN1-1
SPG-1 P CN1-2 SPG-1 No.18CN S P -2 DATA-1
CN1-2
-1 BAT1 -6 BAT
-2 0BAT1 P -5 OBT PG S-AXIS
-3 PG5V1 -4 +5V
-4 PG0V1 P -9 0V
FG1 CN1-3 FG1 -10 FG1
CN1-3
OBT
BAT
No.2CN
CN1-6 No.19CN
SPG-2 P CN1-7 SPG-2 L P -2 DATA-2
CN1-7
-1 BAT2 -6 BAT
-2 0BAT2 P -5 OBT PG L-AXIS
-3 PG5V2 -4 +5V
-4 PG0V2 P -9 0V
FG2 CN1-8 FG2 -10 FG2
CN1-8
OBT
BAT
No.3CN
CN2-1
SPG-3 P CN2-2 SPG-3 No.20CN U P -2 DATA-3
CN2-2
-1 BAT3 -6 BAT
-2 0BAT3 P -5 OBT PG
-3 PG5V3 -4 +5V U-AXIS
-4 PG0V3 P -9 0V
FG3 CN2-3 FG3 -10 FG3
CN2-3
OBT
BAT
No.4CN
CN2-6
SPG-4 P CN2-7 SPG-4 No.21CN R P -2 DATA-4
CN2-7
-1 BAT4 -6 BAT
-2 0BAT4 P -5 OBT PG R-AXIS
-3 PG5V4 -4 +5V
-4 PG0V4 P -9 0V
FG4 CN2-8 FG4 -10 FG4
CN2-8
OBT
BAT
No.5CN
CN3-1
SPG-5 P CN3-2 SPG-5 No.22CN B P -2 DATA-5
CN3-2
-1 BAT5 -6 BAT
-2 0BAT5 P -5 OBT PG B-AXIS
-3 PG5V5 -4 +5V
-4 PG0V5 P -9 0V
FG5 CN3-3 FG5 -10 FG5
CN3-3
OBT
BAT
No.6CN
CN3-6 No.23CN
SPG-6 P CN3-7 SPG-6 T P -2 DATA-6
CN3-7
-1 BAT6 -6 BAT
-2 0BAT6 P -5 OBT PG T-AXIS
-3 PG5V6 -4 +5V
-4 PG0V6 P -9 0V
FG6 CN3-8 FG6 -10 FG6
CN3-8
OBT
+24V CN2-4 +24V BAT
CN2-4 LD1 CN2-5 LD1
P
CN2-5 CN2-9
CN2-9 CN2-10 +24V
CN2-10
BC1
CN4-1 +24V CN4-1 +24V BC2 FOR LAMP(OPTION)
LB1 P CN4-6 LB1
CN4-6
LA1 LB1
LB1
LB2
LA2
LB2
A2
CN4-2 SS2 CN4-2
A1
CN4-7
P CN4-7 LD1
LD2
LC2
LD2
B2
LD1
CN4-3 BC2 CN4-3 BC2
LC1 LB2
LB1
LA3
LB3
A3
P CN4-8
CN4-8
B1 LD2
LD1
LC3
LD3
B3
0V CN4-10 0V
CN4-10
CN4-4
CN4-4
P CN4-5
CN4-5
CN4-9
CN4-9
CN3-4 LC1 LC1

CN3-4
CN3-5
CN3-9
P CN3-5
CN3-9
LD1 LD1 S-AXIS OVERRUN L.S. Connected to B1 .
P CN3-10
CN3-10
LA1 LA1
E
LB1 LB1 S-AXIS OVERRUN L.S. Connected to A1 .
E
S-axis with Limit Switch Specification
E BASE MANIPULATOR CASING
S1(24-28) No.8CN(24-28)
1 1 SP1
2 P 2 SP2
3 3 SP3
P 4
4 5 SP4
5 P 6 SP5
6 SP6
7
7 P 8 SP7
8 9 SP8
9 P 10 SP9
10 11 SP10
11 P 12 SP11
12 SP12
13
13 P 14 SP13
14 15 SP14
15 P 16 SP15
16 17 SP16
17 P 18 SP17
18 SP18
19
19 P 20 SP19
20 21 SP20
21 P 22 SP21
22 23 SP22
23 SP23
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MH50II 8.2 Internal Connections
Fig. 8-5(b): Internal Connection Diagram
2BC 2BC(8X4+12X2)
E E
CN1-1 MU1 CN1-1 MU1

CN1-2 MU1 CN1-2 MU1
MV1 CN1-3 MV1 No.9CN
CN1-3 9CN-A MU1
MV1 CN1-4 MV1
CN1-4 MW1 CN1-5 MW1 -B MV1
CN1-5
MW1 CN1-6 MW1 -C MW1 SM S-AXIS
CN1-6 -D ME1
ME1 CN5-1 ME1
CN5-1
ME1 CN5-2 ME1
CN5-2 -1 BA1
CN6-1 BA1 CN6-1 BA1 -2 BB1 YB
CN6-2 BB1 CN6-2 BB1
MU2 CN1-7 MU2

CN1-7
CN1-8 MU2 CN1-8 MU2
CN2-1
MV2 CN2-2 MV2 10CN-A MU2
CN2-2
MW2 CN2-3 MW2 -B MV2
CN2-3
MW2 CN2-4 MW2 -C MW2 SM L-AXIS
CN2-4 -D ME2
ME2 CN5-3 ME2
CN5-3 ME2 CN5-4 ME2
CN5-4 -1 BA2
BA2 CN6-3 BA2 YB
CN6-3 -2 BB2
MU3 CN2-5 MU3

CN2-5
CN2-6
11CN-A MU3
CN2-7 MW3 CN2-7 MW3
-B MV3
CN5-5
ME3 CN5-5 ME3 -C MW3 SM U-AXIS
-D ME3
BA3 CN6-4 BA3 -1 BA3

CN6-4 YB
-2 BB3
CN4-1
CN4-1
CN4-2 CN4-2
CN4-3
CN4-3
CN4-4
CN4-4
CN6-9
CN6-9
CN6-10
CN6-10
No.12CN
CN2-8
MU4 CN2-8 MU4 12CN-3 MU4
CN3-4
MV4 CN3-4 MV4 -2 MV4
CN3-8
MW4 CN3-8 MW4 -1 MW4 SM
CN5-6
ME4 CN5-6 ME4 -PE ME4
CN6-5
BA4 CN6-5 BA4 -4 BA4 R-AXIS
CN6-6
BB4 CN6-6 BB4 -5 BB4 YB
No.13CN
CN3-1
CN3-2
CN3-3
CN5-7 ME5 CN5-7 ME5 -PE ME5
CN6-7
BA5 CN6-7 BA5 -4 BA5 B-AXIS
-5 BB5 YB
No.14CN
CN3-5
CN3-6
CN3-7
CN5-8
ME6 CN5-8 ME6 -PE ME6
CN6-8
BA6 CN6-8 BA6 -4 BA6 T-AXIS
-5 BB6 YB
CN4-5
CN4-5
CN4-6
CN4-6
CN4-7
CN4-7
CN4-8
CN4-8
CN6-11
CN6-11
CN6-12
CN6-12
PE
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MH50II 9 Maintenance and Inspection
9.1 Inspection Schedule
9 Maintenance and Inspection
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.

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 “Inspection Items”, 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.
• The inspection interval depends on the total servo

operation time.
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.
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Table 9-1: Inspection Items (Sheet 1 of 2)
Items1) Schedule Method Operation Inspectio
n
Charge
12000HCycle
24000HCycle
36000HCycle
1000HCycle
6000HCycle
Specified
Licensee
Service
Daily

9
1 Alignment mark
• Visual Check alignment mark accordance at the home position.
• • •
Maintenance and Inspection

Check for damage.
2 External lead
• Visual Check for damage and deterioration of leads.
• • •
3 Working area and
manipulator
• Visual Clean the work area if dust or spatter is present. Check for
damage and outside cracks.
• • •
4 S,L,U,R,B,T-axes motor
• Visual Check for grease leakage.2)
• • •
9-2
5 Baseplate mounting bolts

• Spanner
Wrench
Tighten loose bolts. Replace if necessary.
• • •
6 Cover mounting screws
• Screwdriver,
Wrench
• • •
7 S,L,U,R,B,T-axes motor
connector
• Manual Tighten loose bolts.
• • •
8 Connector base
• Manual Check for loose connectors.
• • •
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 of protective spring3)
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• Replace it 24000H intervals.

•
01 Limit switches and dogs
(S,L,U-axes)
• Screwdriver,
Wrench,
• •
Multimeter
11 Battery pack in
manipulator
• Replace the battery pack when the battery alarm occurs or the
manipulator drove for 36000H.
• •
•• • •
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21 S-axis speed reducer Grease Gun Check for malfunction. (Replace if necessary.) 4)
Supply grease (6000H cycle)5)
Replace grease. (12000H cycle) 5)See section 9.3.2.
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Table 9-1: Inspection Items (Sheet 2 of 2)
MH50II
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Items1) Schedule Method Operation Inspectio
n
Charge
12000HCycle
24000HCycle
36000HCycle
1000HCycle
6000HCycle
Specified
Licensee
Service
Daily
31 LU-axes speed reducers
•• Grease Gun Check for malfunction. (Replace if necessary.) 4)
• •

9
Supply grease (6000H cycle)5).
Replace grease (12000H cycle)5). See section 9.3.3, and
Maintenance and Inspection

section 9.3.4.
41 R-axis speed reducers
•• Grease Gun Check for malfunction. (Replace if necessary.)4)
Supply grease (6000H cycle)5).
• •
Replace grease (612000H cycle)5). See section 9.3.5
51 B,T-axes speed reducers
B,T-axes gears
•• Grease Gun Check for malfunction. (Replace if necessary.) 4)
Supply grease(6000H cycle)5).
• •
9-3
Replace grease(12000H cycle)5). See section 9.3.6.

61 Overhaul
• •
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 9.4.)
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4 The grease might leak out from the air breather or the internal pressure might rise in case the manipulator is used very frequently for the application such
as handling.
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
13,14,15,16 Molywhite RE No.00 Speed reducers for all axes
B,T-axes gears
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The numbers in the above table correspond to the numbers in Table 9-1 “Inspection Items”.
MH50II
Fig. 9-1: Inspection Items
S-axis
R-axis B-axis
T-axis

9 Maintenance and Inspection
9-4
U-axis
L-axis
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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”.
• Battery Type: HW0470360-A
Fig. 9-2: Battery Location
Cross head APS bolt M6 Connector base

(Length:12)(8 bolts)
AIR
1BC
2BC
Cross head APS bolt M4 Backside View

(Length:10)(4 bolts)
Battery pack (HW0470360-A)
Top View
Fig. 9-3: Battery Connection

Battery pack before replacement
See procedure 5
Connector
Board
(type: SGDR-EFBA02A) See procedure 4
New battery pack
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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 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.
6. Mount the new battery pack on the battery holder.

7. Reinstall the plate.
NOTE Do not allow plate to pinch the cables when reinstalling the
plate.
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9.3 Grease Replenishment/Exchange
9.3.1 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 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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9.3.2 Grease Replenishment/Exchange for S-axis Speed Reducer

Fig. 9-4: S-axis Speed Reducer Diagram
Grease exhaust port
Hexagon socket
head plug PT3/8
$,5
%&
%&
S-axis speed reducer
Grease inlet
Hexagon socket
head plug PT1/4
9.3.2.1 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 plug PT1/4 from the grease inlet
and the hexagon socket head plug PT3/8 from the 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 plug before the grease injection.
NOTE
Failure to observe this instruction may result in damage to
2. Install the grease zerk PT1/4 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: Molywhite RE No.00
– Amount of grease: 520 cc
(1040 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. Remove the grease zerk from the grease inlet and reinstall the
hexagon socket head plug PT 1/4.
Before installing the plug, apply Three Bond 1206C on the thread part
of each plug, then tighten the plug with a tightening torque of 12 N•m
(1.2 kgf•m).
6. Wipe the discharged grease with a cloth and reinstall the hexagon
socket head plug PT 3/8 to the exhaust port.
(2.3 kgf•m).
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9.3.2.2 Grease Exchange

(Refer to Fig. 9-4 “S-axis Speed Reducer Diagram”.)
1. Remove the hexagon socket head plug PT1/4 from the grease inlet
and the hexagon socket head plug PT3/8 from the grease exhaust
port.
• If grease is injected with the plugs on, the grease will leak
remove the plug before the grease injection.
NOTE

3. Inject the grease through the grease inlet using a grease gun.
– Amount of grease: approx. 2600 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.
(1.2 kgf•m).
(2.3 kgf•m).
If the plug is installed while grease is being exhausted,

NOTE grease will leak inside the motor and may cause a damage.
Ensure that grease has been completely exhausted before
installing the plug.
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9.3.3 Grease Replenishment/Exchange for L-axis Speed Reducer

Fig. 9-5: L-axis Speed Reducer Diagram
Grease exhaust port
Grease inlet
Hexagon socket Hexagon socket head
head plug PT3/8 plug PT3/8
L-axis speed reducer

(Refer to Fig. 9-5 “L-axis Speed Reducer Diagram”.)
1. Make the L-arm vertical to the ground.
2. Remove the hexagon socket head plug PT 3/8 from the grease
exhaust port.
3. Remove the hexagon socket head plug PT 3/8 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

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.
(2.3 kgf•m).
(2.3 kgf•m).
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(Refer to Fig. 9-5 “L-axis Speed Reducer Diagram”.)
1. Make the L-arm vertical to the ground.
exhaust port.
• 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

– Amount of grease: approx. 1650 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.
hexagon socket head plug PT 3/8 to the grease inlet.
(2.3 kgf•m).
Before installing the plugs, apply Three Bond 1206C on the thread part
(2.3 kgf•m).

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9.3.4 Grease Replenishment/Exchange for U-axis Speed Reducer
Fig. 9-6: U-Arm Posture

U-arm
Fig. 9-7: U-axis Speed Reducer Diagram
Grease exhaust port

Grease inlet Hexagon socket head
plug PT3/8
Hexagon socket head
plug PT1/8
U-axis speed reducer

(Refer to Fig. 9-7 “U-axis Speed Reducer Diagram”.)
1. Make the U-arm horizontal to the ground.
exhaust port.
• If grease is injected with the plug on, the grease will leak
remove the bolt before the grease injection.
NOTE

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6. Move the U-axis for a few minutes to discharge the excess grease.
of each plug, then tighten the plug with a tightening torque of 4.9 N•m
(0.5 kgf•m)
Three Bond 1206C on the thread part of each plug, then tighten the
plug with a tightening torque of 23 N•m (2.3 kgf•m)

(Refer to Fig. 9-7 “U-axis Speed Reducer Diagram”.)
1. Make the U-arm horizontal to the ground.
exhaust port.
NOTE

– Amount of grease: approx.700 cc
grease by color.
7. Move the U-axes for a few minutes to discharge the excess grease.
(0.5 kgf•m).
socket head plug PT 3/8 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 23 N•m (2.3 kgf•m).

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9.3.5 Grease Replenishment for R-axis Speed Reducer

Fig. 9-8: R-axis Speed Reducer Diagram
Exhaust port
Hexagon socket head
plug PT3/8 R-axis speed reducer
U arm
Grease inlet
Hexagon socket head
plug PT1/8

(Refer to Fig. 9-8 “R-axis Speed Reducer Diagram”.)
1. Remove the hexagon socket head plug PT 3/8 from the exhaust port.
NOTE
2. Remove the hexagon socket head plug PT 1/8.

grease by color.
6. Move the R-axes for a few minutes to discharge the excess grease.
(0.5 kgf•m).
(2.3 kgf•m).
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(Refer to Fig. 9-8 “R-axis Speed Reducer Diagram”.)
exhaust port.
NOTE

grease by color.
6. Move the R-axes for a few minutes to discharge the excess grease.
(0.5 kgf•m).
(2.3 kgf•m).

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9.3.6 Grease Replenishment for B- and T-axes Speed Reducer and Gear
Parts
Fig. 9-9: B- and T-axes Speed Reducer and Gear Parts
Exhaust port
Hexagon socket head
Grease inlet plug PT1/8
Hexagon socket head
plug PT1/8
T-axis speed
reducer, gear B-axis speed
reducer, gear

(Refer to Fig. 9-9 “B- and T-axes Speed Reducer and Gear Parts”.)
1. Remove the hexagon socket head plug PT 1/8 from the exhaust port.
NOTE
2. Remove the hexagon socket head plug PT 1/8.

3. Install the grease zerk PT1/8 to the grease inlet
grease by color.
6. Move the B-axes for a few minutes to discharge the excess grease.
(0.5 kgf•m).
(0.5 kgf•m).
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(Refer to Fig. 9-9 “B- and T-axes Speed Reducer and Gear Parts”.)
exhaust port.
NOTE

grease by color.
6. Move the B-axes for a few minutes to discharge the excess grease.
(0.5 kgf•m).
(0.5 kgf•m).

9-17 HW1482719 67 of 82
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9.4 Notes for Maintenance
9.4 Notes for Maintenance

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 Fig. 9-10 “Battery Pack
Connection”.
9.4.1 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. 9-10: Battery Pack Connection

Motor
Power connector
Connector for motor encoder
0BT b a 0BT*
BAT a b BAT*
Battery pack: HW9470932-A
Connector for battery backup

a: Crimped contact-pin (socket)
b: Crimped contact-pin (pin)
9-18 HW1482719 68 of 82
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MH50II 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-MH50 II. 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-MH00050-J00, -J01 (Sheet 1 of 2)

Rank Parts Name Type Manufacturer Qty Qty Remarks
No. per
Unit
A 1 Grease Molywhite YASKAWA 16 kg - For speed
RE No.00 Electric reducers in each
Corporation axis
A 2 Liquid Gasket Three Bond 1206C Three Bond Co., - -
Ltd.
A 3 Battery Pack HW9470932-A YASKAWA 1 1 For internal wire
Electric harness
Corporation replacement
A 4 Battery Pack HW0470360-A YASKAWA 1 1
Electric
Corporation
B 5 S-axis Y005C-MH00050J00S YASKAWA 1 1
Speed Reducers Electric
Kit Corporation
B 6 L-axis Y005C-MH00050J00L YASKAWA 1 1
Kit Corporation
B 7 U-axis Y005C-MH00050J00U YASKAWA 1 1
Kit Corporation
B 8 R-axis Y005C-MH00050J00R YASKAWA 1 1
Kit Corporation
B 9 B-axis Y005C-MH00050J00B YASKAWA 1 1
Kit Corporation
B 10 T-axis Y005C-MH00050J00T YASKAWA 1 1
Kit Corporation
C 11 S-axIs SGMRV-30ANA-YR1* YASKAWA 1 1
AC Servomotor HW0388669-A Electric
Corporation
10-1 HW1482719 69 of 82
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MH50II 10 Recommended Spare Parts
Table 10-1: Spare Parts for YR-MH00050-J00, -J01 (Sheet 2 of 2)

Rank Parts Name Type Manufacturer Qty Qty Remarks
No. per
Unit
C 12 L-axis SGMRV-37ANA-YR1* YASKAWA 1 1
Corporation
C 13 U-axis SGMRV-13ANA-YR1* YASKAWA 1 1
Corporation
C 14 R-,B-,T-axes SGMRV-09ANA-YR1* YASKAWA 1 3
Corporation
C 15 Internal Wire HW1171766-A YASKAWA 1 1
Harness Electric
Corporation
C 16 Connector Base HW0374034-F YASKAWA 1 1
Electric
Corporation
C 17 Circuit board SGDR-EFBA02A YASKAWA 1 1
Electric
Corporation
10-2 HW1482719 70 of 82
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MH50II 11 Parts List
11.1 S-Axis Unit
11 Parts List
11.1 S-Axis Unit
1035
1013
1019 1014
1010 1002
1011
1029
1032
1009 1031
1030
1023
1020
1033
1024
1007 1021
1008 1022 1005
1003 1001
1016
1004 1018
1017
1012
1028
1026
1025
11-1 HW1482719 71 of 82
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11.1 S-Axis Unit
Table 11-1: S-Axis Unit

No. DWG No. Name Pcs
1001 HW1382898-A Speed reducer 1
1002 SGMRV-30ANA-YR1* Motor 1
1003 HW9404486-1 Shaft 1
1004 HW0400405-1 Stopper 1
1005 6310 Bearing 1
1007 M8X45 Socket screw 1
1008 2H-8 Spring washer 1
1009 HW0102237-4 S-head 1
1012 C-30-SG-22A Grommet 1
1016 STW-50 Retaining Ring-C 1
type
1019 PT3/8 Plug 1
(STAINLESS)
1020 MSTH10-25 Dowel pin 1
1023 HW9405875-1 Collar 1
1025 HW0102236-1 Base 1
1026 KQ2L10-01S Elbow 1
1028 NB-1075-0.43 Tube 1
1029 HW0314010-1 M-base 1
1030 Y507212.5 Oil seal 1
1033 HW0313741-1 Gear 1
1034 PT1/8 Plug 1
(STAINLESS)
1035 M12X35 GT-SA bolt 2
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11.2 L-Axis Unit
11.2 L-Axis Unit
2021
2022 2001
2027
2023
2024
2018
2027
2025
2019 2025
2027
2010
2011
2020
2014
2013
2026
2015
2016
1009
2005
2004
2026 2003
2009
2008
2002
2007
2006
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11.2 L-Axis Unit
Table 11-2: L-Axis Unit

2002 HW0102425-1 L-arm 1
2004 SW-2H-12 Spring washer 16
2005 HW9381465-B Speed reducer 1
2010 HW9481343-A Shaft 1
2011 HW9482771-A Gear 1
2012 HW9405902-1 Pipe 1
2015 M8 Washer 1
2016 G270 O-ring 1
2018 HW0314011-1 M-base 1
2019 HW0312815-2 Gear 1
2020 HW9482447-A Oil seal 1
2025 EZ5002A0 Cap 3
2026 PT3/8 Plug 2
(STAINLESS)
2027 PT1/8 Plug 4
(STAINLESS)
1009 HW0102237-4 S-head 1
11-4 HW1482719 74 of 82
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11.3 U-Axis Unit
11.3 U-Axis Unit
3017
3007
3027
3028
2002
3015
3014 3002
3004
3022 3003
3015
3012
3024 3026
3025
3023
3001
3019
3011 3016 3020 3005
3021 3006
3018
3008
3009
3010
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11.3 U-Axis Unit
Table 11-3: U-Axis Unit

3002 HW0413914-1 Stopper 1
3008 HW0313740-1 Gear 1
3009 HW8411125-3 Washer 1
3016 HW9405257-1 Collar 1
3017 HW0102239-2 Casing 1
3018 Y426012.5 Oil seal 1
3021 HW0314012-1 M-base 1
3022 G195 O-ring 1
3025 TSH6-01M Union 2
3026 UB-0640-0.1C Tube 2
3027 PT1/8 Plug 1
(STAINLESS)
2028 PT3/8 Plug 1
(STAINLESS)
2002 HW0102425-1 L-arm 1
11-6 HW1482719 76 of 82
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11.4 R-,B-,T-Axes Unit
4018
4006
4020 4045
4016 4024
4019
4025
4033 4001
4044
4031 4029
4028
4037 4037
40074013 4036
4007 4012
4040 4048
4041 4014
4003
4022 4023
4031
4021
4046
4047 4004
4017
4049
4050 4008
R axis
(MH50II only) 4031
4002
4015
4009 4031
4046
4047 4043
4042
4046 4011
4047
4049 B axis 4005
4050
T axis 4002 4030
4002 4010
4035
4034
4039
4038
4027 4026
3017
11-7 HW1482719 77 of 82
169858-1CD

Table 11-4: R-,B-,T-Axes Unit

4003 AC1306-G00X6 Oil seal 1
4004 TC20367*FKM* Oil seal 1
4005 ISTW-17 Retaining Ring 1
4006 HR32913J Bearing 1
4007 HR32005XJ Bearing 2
4008 HR32909J Bearing 1
4009 6003 Bearing 1
4010 HW0313628-1 Gear 1
4011 HW0313627-1 Gear 1
4012 HW0313629-1 Gear 1
4013 HW0312826-1 Gear 1
4014 HW0404196-8 Washer 1
4015 HW0313626-1 Gear 1
4017 HW0312834-1 Shaft 1
4018 HW0312832-1 Shaft 1
4019 HW0312831-1 Gear 1
4020 HW0312833-1 Shaft 1
4021 HW0312835-1 Shaft 1
4022 HW0312838-1 Flange 1
4024 HW0200768-1 Shaft 1
4025 HW0312837-1 Housing 1
4026 HW9405662-1 Washer 1
4027 HW0312825-1 Gear 1
4028 HW0412720-1 B nut 1
4029 PT1/8 (STAINLESS) Plug 2
4033 M4X6 H set screw 1
3017 HW0102239-2 Casing 1
11-8 HW1482719 78 of 82
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11.5 Wrist Unit
11.5 Wrist Unit
5058
5015 5093
5115 5094
5016
5095
5096 5005
5113 5115
5114
5060
5040
5039 5039 5005
5013 5055
5039 5014
5008 5033
5007 5057
5022
5039
5053 5047
5091
5090 5089
5048 5002
5082
5103 5035
5035 5104
5112
5111
5108
5107
5034 5100
5105 5102
5056 5106 5054
5092
5001
5010
5075
5045
5115 5092
5097 5041
5098 5009
5046 5032 5017
5093 5068 5031
5027 5006 5094
5012
5038 5011 5110 5059
5030 5109 5092
5028 5042
5044 5029
5043
5036
3017
5049
5003
5037
5099
5092
5004
11-9 HW1482719 79 of 82
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11.5 Wrist Unit
Table 11-5: Wrist Unit

5001 HW0387737-B Speed reducer 1
5003 HW9405880-1 B-cover 1
5004 HW9405445-1 B nut 1
5005 HW9405881-1 B nut 2
5006 HW9405882-1 B nut 1
5007 S34 O ring 1
5008 AE3092E2 Oil seal 1
5009 SC15247F585 Oil seal 1
5010 SC39528F585 Oil seal 1
5011 HW9405883-1 Collar 1
5012 HW9381667-A Gear 1
5013 HW9381668-A Gear 1
5014 HW9381669-A Gear 1
5015 HW9381672-A Gear 1
5016 WR60 Circlip 1
5017 HW9405888-* Shim *
5022 HW9405885-* Shim *
5027 HW9482772-A Gear 1
5028 HW9482765-A Shaft 1
5029 HW9381675-A Shaft 1
5030 RTW42 Retaining Ring 1
5031 STW-25 Retaining Ring-C type 1
5032 ISTW40 Retaining Ring 1
5033 HW9405891-1 Housing 1
5034 PT3/8 Plug 2
5036 HW9405892-1 Flange 1
5037 HW9481234-A Bearing 1
5038 6004LBD2PX24V1 Bearing 1
5039 HW9480086-A Bearing 4
5040 6912DU Bearing 1
5041 6808LLU Bearing 2
5042 6905 Bearing 1
5043 HW9405901-1 Washer 1
5044 BG3000-15X19 Ring 1
5045 HW0312827-1 Gear 1
5046 HW0312828-1 Gear 1
5047 HW0313631-1 Gear 1
5048 HW0313631-1 Gear 1
5049 HW0201297-A Shaft 1
5053 HW1300244-1 Flange 1
5054 HW0314705-1 Flange 1
11-10 HW1482719 80 of 82
169858-1CD
11.5 Wrist Unit
Table 11-5: Wrist Unit

5055 HW9302630-3 Housing 1
5056 HW0102233-1 U-arm 1
5057 HW0102491-1 Wrist 1
5058 HW0201226-1 Cover 1
5059 HW0414884-1 Cover 1
5060 HW0412694-* Shim *
5068 HW0412683-* Shim *
5075 HW0412695-* Shim *
5082 HW0412696-* Shim *
5089 HW9404651-1 Washer 1
5099 M4X6 H set screw 1
5115 M5X7 Magic screw 6
3017 HW0102239-2 Casing 1
11-11 HW1482719 81 of 82
MOTOMAN-MH50 II
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 GmbH Robotics 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 㸩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, Korea 07326
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.
MANUAL NO.
HW1482719 7 82 of 82

Instructions: Motoman-Mh50 Ii

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MOTOMAN-MH50 II

Part Number: 169858-1CD

Copyright © 2017, 2016, 2015, 2014 YASKAWA America, Inc.

Terms of Use and Copyright Notice

Printed in the United States of America

First Printing, 2014

YASKAWA America, Inc.

Notes for Safe Operation

Indicates an imminent hazardous

Indicates a potentially hazardous

Indicates a potentially hazardous

Always be sure to follow explicitly

PROHIBITED 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

MH50II Notes for Safe Operation

• Observe the following precautions when performing teaching

Definition of Terms Used Often in This Manual

Description of the Operation Procedure

MH50II Explanation of Warning Labels

Explanation of Warning Labels

Nameplate: WARNING Label A:

YASKAWA ELECTRIC CORPORATION

Mechanical Safety Devices

MH50II Programming, Operation, and Maintenance Safety

Programming, Operation, and Maintenance Safety

Summary of Warning Information

MH50II 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

• Primary Application ___________________________

• Software Version Access this information on the

• Robot Serial Number Located on the robot data plate

• Robot Sales Order Number Located on the DX200 controller

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...................................................................................................... 2-3

2.2 Shipping Bolts and Brackets.............................................................................................. 2-4

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

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

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

3.2.2 When the Manipulator is Mounted Directly on the Floor....................................... 3-4

3.3 Types of Mounting ............................................................................................................. 3-5

3.3.1 S-axis Operating Range ....................................................................................... 3-5

3.3.2 Fixing the Manipulator Base ................................................................................. 3-5

3.3.3 Precautions to Prevent the Manipulator from Falling............................................ 3-5

3.4 Protection Class................................................................................................................. 3-6

3.5 Location ............................................................................................................................. 3-6

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