Académique Documents
Professionnel Documents
Culture Documents
ROBOTS
SDA5
SDA10
SDA20
MA1900
SIA5
MA3100
SIA10
VS50
SIA30D
SIA20
MS120
MS80W
ACTUATOR-BASED ROBOTS
Controller
DX100, DXM100,
FS100, MLX100, NX100
Degrees of Freedom
Payload
Vertical Reach
Horizontal Reach
Repeatability
ES165RD
ES200RD
ARC WELDING
SPOT WELDING
SDA5 *
SDA10 *
SDA20 *
SIA5
SIA10
SIA20
SIA30D
SIA50D
VA1400
DX, FS
DX, FS
DX, FS
DX, FS
DX, FS
DX, FS
DX
DX
DX
DX
DX
DX
DX
DX
DX
F, C
F, C
F, C
F, W, C
F, W, C
F, W, C
F, W, C
F, C
F, W, C
F, W, C
F, W, C
F, W, C
F, W, C
15
15
15
5 kg per arm
11 lb per arm
1,118 mm
44"
845 mm per arm
33.3" per arm
0.06 mm
0.003"
10 kg per arm
22.1 lb per arm
1,440 mm
56.7"
720 mm per arm
28.3" per arm
0.1 mm
0.004"
20 kg per arm
44.1 lb per arm
1,820 mm
71.7"
910 mm per arm
35.8" per arm
0.1 mm
0.004"
5 kg
11 lb
1,007 mm
39.6"
559 mm
22"
0.06 mm
0.002"
10 kg
22.1 lb
1,203 mm
47.4"
720 mm
28.3"
0.1 mm
0.004"
20 kg
44.1 lb
1,498 mm
59"
910 mm
35.8"
0.1 mm
0.004"
30 kg
66.2 lb
2,597 mm
102.2"
1,485 mm
58.5"
0.1 mm
0.004"
50 kg
110.3 lb
2,597 mm
102.2"
1,630 mm
64.2"
0.1 mm
0.004"
3 kg
6.6 lb
2,475 mm
97.4"
1,434 mm
56.5"
0.08 mm
0.003"
3 kg
6.6 lb
2,511 mm
98.9"
1,434 mm
56.5"
0.08 mm
0.003"
15 kg
33.1 lb
3,243 mm
127.7"
1,807 mm
71.1"
0.08 mm
0.003"
3 kg
6.6 lb
3,437 mm
135.3"
1,904 mm
75"
0.08 mm
0.003"
3 kg
6.6 lb
5,615 mm
221.1"
3,121 mm
122.9"
0.15 mm
0.006"
+270/-90 (Lift)
n/a
110
+115/-90
180
110
180
Elbow: 170
Rotation: 170
180 (Lift)
n/a
110
135
180
110
180
Elbow: 170
Rotation: 170
180 (Lift)
n/a
110
130
180
110
180
Elbow: 170
Rotation: 180
180
180
110
+115/-90
180
110
180
Elbow: 170
n/a
180
180
110
135
180
110
180
Elbow: 170
n/a
180
180
110
130
180
110
180
Elbow: 170
n/a
180
180
125
110
170
110
180
Elbow: 170
n/a
180
n/a
+125/-60
+215/-35
170
125
180
Elbow: 170
n/a
170
30
+148/-70
+150/-175
150
+180/-45
200
Elbow: 90
n/a
170
30
+155/-90
+190/-175
150
+180/-45
200
n/a
n/a
180
30
+155/-100
+210/-175
175
+180/-45
200
n/a
n/a
180
30
+155/-110
+220/-165
150
+180/-45
200
n/a
n/a
200/s (Lift)
200/s
200/s
200/s
230/s
350/s
Elbow: 200/s
Rotation: 180/s
110 kg
242.6 lb
170/s (Lift)
170/s
170/s
200/s
200/s
400/s
Elbow: 170/s
Rotation: 130/s
220 kg
485.1 lb
130/s (Lift)
130/s
170/s
200/s
200/s
400/s
Elbow: 170/s
Rotation: 125/s
380 kg
837.9 lb
200/s
200/s
200/s
200/s
230/s
350/s
Elbow: 200/s
n/a
30 kg
66.2 lb
170/s
170/s
170/s
200/s
200/s
400/s
Elbow: 170/s
n/a
60 kg
132.3 lb
130/s
130/s
170/s
200/s
200/s
400/s
Elbow: 170/s
n/a
120 kg
264.6 lb
130/s
130/s
130/s
170/s
170/s
200/s
Elbow: 130/s
n/a
345 kg
760.7 lb
170/s
130/s
130/s
130/s
130/s
200/s
Elbow: 130/s
n/a
640 kg
1,411.2 lb
220/s
200/s
220/s
410/s
410/s
610/s
Elbow: 220/s
n/a
150 kg
330.8 lb
200/s
200/s
220/s
410/s
410/s
610/s
n/a
n/a
130 kg
286.7 lb
195/s
175/s
190/s
380/s
340/s
560/s
n/a
n/a
380 kg
837.9 lb
1.4 kVA
2.7 kVA
4.4 kVA
1 kVA
1.5 kVA
2.2 kVA
3 kVA
8.7 kVA
1.5 kVA
1.5 kVA
14.7 Nm
14.7 Nm
7.35 Nm
31.4 Nm
31.4 Nm
19.6 Nm
58.8 Nm
58.8 Nm
29.4 Nm
14.7 Nm
14.7 Nm
7.35 Nm
31.4 Nm
31.4 Nm
19.6 Nm
58.8 Nm
58.8 Nm
29.4 Nm
117.6 Nm
117.6 Nm
58.8 Nm
377 Nm
377 Nm
147 Nm
8.8 Nm
8.8 Nm
2.9 Nm
0.45 kgm
0.45 kgm
0.11 kgm
1 kgm
1 kgm
0.4 kgm
4 kgm
4 kgm
2 kgm
0.45 kgm
0.45 kgm
0.11 kgm
1 kgm
1 kgm
0.4 kgm
4 kgm
4 kgm
2 kgm
6 kgm
6 kgm
3 kgm
29.6 kgm
29.6 kgm
12.5 kgm
0.27 kgm2
0.27 kgm2
0.03 kgm2
XP ENVIRONMENTALLY HARDENED
Mounting
ES165D/ES200D
MA1800
MA1400
VA1400
Application
Models
SIA50D
MA1400
MA1800
MA1900
MA3100
VS50
MS80W
ES165D
ES165RD
ES200D
ES200RD
DX
DX
DX
DX
DX
50 kg
110.3 lb
2,597 mm
102.2"
1,630 mm
64.2"
0.1 mm
0.004"
72 kg
158.8 lb
3,751 mm
147.7"
2,236 mm
88"
0.07 mm
0.003"
106.5 kg
234.8 lb
2,163 mm
85.2"
1,623 mm
63.9"
0.2 mm
0.008"
151.5 kg
344.1 lb
3,372 mm
132.8"
2,651 mm
104.4"
0.2 mm
0.008"
151.5 kg
344.1 lb
4,782 mm
188.3"
3,140 mm
123.6"
0.2 mm
0.008"
186.5 kg
411.2 lb
3,372 mm
132.8"
2,651 mm
104.4"
0.2 mm
0.008"
186.5 kg
411.2 lb
4,782 mm
188.3"
3,140 mm
123.6"
0.2 mm
0.008"
180
30
+135/-90
+251/-160
150
+180/-45
200
n/a
n/a
180
n/a
+125/-60
+215/-35
170
125
180
Elbow: 170
n/a
180
n/a
+155/-90
+160/-185
205
120
180
n/a
n/a
150
n/a
+50/-60
+72/-105
205
115
180
n/a
n/a
180
n/a
+76/-60
+230/-142.5
205
120
180
n/a
n/a
180
n/a
+80/-130
+208/-112
205
120
180
n/a
n/a
180
n/a
+76/-60
+230/-142.5
205
120
180
n/a
n/a
180
n/a
+80/-130
+208/-107
205
120
180
n/a
n/a
197/s
175/s
185/s
410/s
410/s
610/s
n/a
n/a
280 kg
617.4 lb
180/s
178/s
178/s
400/s
410/s
610/s
n/a
n/a
501 kg
1,104.7 lb
170/s
130/s
130/s
130/s
130/s
200/s
Elbow: 130/s
n/a
640 kg
1,411.2 lb
170/s
140/s
160/s
230/s
230/s
350/s
n/a
n/a
580 kg
1,278.9 lb
130/s
110/s
130/s
215/s
180/s
300/s
n/a
n/a
950 kg
2,094.8 lb
110/s
110/s
110/s
175/s
150/s
240/s
n/a
n/a
1,100 kg
2,425.5 lb
105/s
105/s
105/s
175/s
150/s
240/s
n/a
n/a
1,540 kg
3,395.7 lb
95/s
90/s
95/s
120/s
120/s
190/s
n/a
n/a
1,130 kg
2,491.7 lb
95/s
90/s
95/s
120/s
120/s
190/s
n/a
n/a
1,570 kg
3,461.9 lb
5 kVA
2.8 kVA
2.5 kVA
8.7 kVA
4 kVA
7.5 kVA
5 kVA
10 kVA
5 kVA
10 kVA
8.8 Nm
8.8 Nm
2.9 Nm
38.6 Nm
38.6 Nm
7.35 Nm
8.8 Nm
8.8 Nm
2.9 Nm
8.8 Nm
8.8 Nm
2.9 Nm
377 Nm
377 Nm
147 Nm
372 Nm
372 Nm
191 Nm
539 Nm
539 Nm
392 Nm
868 Nm
868 Nm
490 Nm
868 Nm
868 Nm
490 Nm
1,291 Nm
1,291 Nm
715 Nm
1,291 Nm
1,291 Nm
715 Nm
0.27 kgm2
0.27 kgm2
0.03 kgm2
1.04 kgm2
1.04 kgm2
0.04 kgm2
0.27 kgm2
0.27 kgm2
0.03 kgm2
0.27 kgm2
0.27 kgm2
0.03 kgm2
29.6 kgm2
29.6 kgm2
12.5 kgm2
26 kgm2
26 kgm2
10.3 kgm2
33 kgm2
33 kgm2
14.5 kgm2
83 kgm2
83 kgm2
45 kgm2
85 kgm2
85 kgm2
45 kgm2
141 kgm2
141 kgm2
80 kgm2
118 kgm2
118 kgm2
80 kgm2
MS120
Maximum Speed
S-Axis
L-Axis
U-Axis
R-Axis
B-Axis
T-Axis
7th-Axis
Other
Approximate Mass
Power Rating
Allowable Moment
R-Axis
B-Axis
T-Axis
CEILING-MOUNT MODELS (VA1400T, MA1400T, MA1800T, MA1900T AND MA3100T) ALSO AVAILABLE; CONTACT YASKAWA MOTOMAN FOR SPECIFICATIONS
WORKING RANGE WITH HARNESS SHOWN FOR R-. B- AND T-AXIS MAXIMUM MOTION RANGE
MPP3
MPK2F
MPK50
MPK2F-5
MPL100/MPL160
MPL300
MPL80
EP4000D/EPH4000D
EPH130RLD
DX1350D
MPL500/MPL800
EPH130D
EPX2700
EPX2050
EPX2050
EPX1250
EPX2800
EPX2750
HOLLOW WRIST
LEMMA WRIST
EPX2900
MPP3
DX100, DXM100,
FS100, MLX100, NX100
XP ENVIRONMENTALLY HARDENED
MATERIAL
REMOVAL
STANDARD
MPK2F
FS
MPK2F-5 *
FS
MPK50
MPL80
DX, MLX
DX, MLX
MPL100
DX
MPL160
DX, MLX
MPL300
DX, MLX
MPL500
DX
MPL800
DX1350D
DX
DX
PRESS TENDING
EPH130D
DX
EPH130RLD
DX
EP4000D
DX
PAINT
EPH4000D
EPX1250
EPX2050
EPX2050
EPX2750
EPX2700
EPX2800
EPX2900
STRAIGHT WRIST
LEMMA WRIST
HOLLOW WRIST
LEMMA WRIST
HOLLOW WRIST
HOLLOW WRIST
HOLLOW WRIST
DX
FM APPROVED
FM APPROVED
FM APPROVED
FM APPROVED
FM APPROVED
FM APPROVED
FM APPROVED
IP67 W/
IP67 W/
OPTIONAL COVERS OPTIONAL COVERS
NX
NX
NX
NX
NX
NX
NX
Mounting
F, W, C
F, C
F, W, C
F, W, C
F, W, C
F, W
Degrees of Freedom
3 kg
6.6 lb
Up to 600 mm
23.6"
1,300 mm
51.2"
0.1 mm
0.004"
2 kg
4.4 lb
1,625 mm
64"
900 mm
35.4"
0.5 mm
0.02"
5 kg
11 lb
1,551 mm
61"
900 mm
35.4"
0.5 mm
0.02"
50 kg
110.3 lb
1,668 mm
65.7"
1,893 mm
74.5"
0.5 mm
0.02"
80 kg
176.4 lb
3,291 mm
129.6"
2,061 mm
81.1"
0.07 mm
0.003"
100 kg
220.5 lb
3,024 mm
119.1"
3,159 mm
124.4"
0.5 mm
0.02"
160 kg
352.8 lb
3,024 mm
119.1"
3,159 mm
124.4"
0.5 mm
0.02"
300 kg
661.5 lb
3,024 mm
119.1"
3,159 mm
124.4"
0.5 mm
0.02"
500 kg
1,102.5 lb
3,024 mm
119.1"
3,159 mm
124.4"
0.5 mm
0.02"
800 kg
1,764 lb
3,024 mm
119.1"
3,159 mm
124.4"
0.5 mm
0.02"
35 kg
77.2 lb
2,201 mm
86.7"
1,355 mm
53.3"
0.06 mm
0.002"
130 kg
286.7 lb
3,372 mm
132.8"
2,651 mm
104.4"
0.2 mm
0.008"
130 kg
286.7 lb
4,151 mm
163.4"
3,474 mm
136.8"
0.3 mm
0.01"
200 kg
441 lb
2,614 mm
103"
3,505 mm
138"
0.5 mm
0.02"
200 kg
441 lb
2,629 mm
103.5"
3,505 mm
138"
0.5 mm
0.02"
5 kg
11 lb
1,852 mm
72.9"
1,256 mm
49.4"
0.15 mm
0.006"
10 kg
22.1 lb
2,767 mm
108.9"
2,035 mm
80.1"
0.5 mm
0.02"
15 kg
33.1 lb
2,806 mm
110.5"
2,054 mm
80.9"
0.5 mm
0.02"
10 kg
22.1 lb
3,758 mm
148"
2,729 mm
107.4"
0.5 mm
0.02"
15 kg
33.1 lb
5,147 mm
202.6"
2,700 mm
106.3"
0.15 mm
0.006"
20 kg
44.1 lb
4,582 mm
180.4"
2,778 mm
109.4"
0.5 mm
0.02"
20 kg
44.1 lb
4,410 mm
173.6"
2,900 mm
114.2"
0.5 mm
0.02"
n/a
n/a
n/a
n/a
n/a
n/a
360
n/a
n/a
170
30
120
+282/-102
n/a
150
270
n/a
n/a
170
n/a
120
+60/-102
n/a
15
270
n/a
n/a
180
n/a
+80/-35
+15/-105
n/a
n/a
350
n/a
n/a
180
n/a
+135/-90
+251/-170
n/a
15
360
n/a
n/a
180
n/a
+90/-45
+15.5/-120
n/a
n/a
360
n/a
n/a
180
n/a
+90/-45
+15.5/-120
n/a
n/a
360
n/a
n/a
180
n/a
+90/-45
+15.5/-120
n/a
n/a
360
n/a
n/a
180
n/a
+90/-45
+15.5/-120
n/a
n/a
360
n/a
n/a
180
n/a
+90/-45
+15.5/-120
n/a
n/a
360
n/a
n/a
180
30
+145/-50
+220/-140
200
125
360
n/a
n/a
180
n/a
+76/-60
+230/-137.5
360
130
360
n/a
n/a
180
n/a
+70/-130
+95/-70
360
130
360
n/a
n/a
150
n/a
+25/-122
+53/-70
360
120
360
n/a
n/a
150
n/a
+25/-122
+53/-70
360
120
360
n/a
n/a
170
60
+120/-65
+205/-165
190
145
360
n/a
n/a
90
27.5
+100/-50
+5/+163
260
270
260
n/a
n/a
90
20
+100/-50
+5/+163
360
360
360
n/a
n/a
150
n/a
+90/-40
+168/-10
260
270
260
n/a
n/a
n/a
+125/-25 (RH)
+140/-65
+90/-65
720
720
720
n/a
n/a
150
n/a
+120/-45
+90/-85
360
360
360
n/a
n/a
150
n/a
+110/-50
+90/-70
360
360
360
n/a
n/a
320/s
330/s
330/s
n/a
380/s
2,000/s
n/a
n/a
72 kg
158.8 lb
320/s
330/s
330/s
n/a
380/s
2,000/s
n/a
n/a
72 kg
158.8 lb
140/s
140/s
140/s
n/a
n/a
305/s
n/a
n/a
1,700 kg
3,748.5 lb
140/s [112/s]
136/s [116/s]
136/s [116/s]
n/a
n/a
305/s [275/s]
Approximate Mass
n/a
n/a
n/a
n/a
n/a
1,200/s
n/a
n/a
115 kg
253.6 lb
n/a
n/a
1,700 kg
3,748.5 lb
90/s
100/s
110/s
n/a
n/a
195/s
n/a
n/a
1,820 kg
4,013.1 lb
85/s
85/s
85/s
n/a
n/a
195/s
n/a
n/a
2,300 kg
5,071.5 lb
65/s
65/s
65/s
n/a
n/a
125/s
n/a
n/a
2,550 kg
5,622.8 lb
170/s
170/s
170/s
270/s
270/s
460/s
n/a
n/a
275 kg
606.4 lb
130/s
130/s
130/s
215/s
180/s
300/s
n/a
n/a
1,495 kg
3,296.5 lb
110/s
110/s
110/s
215/s
180/s
300/s
n/a
n/a
1,445 kg
3,186.2 lb
90/s
90/s
90/s
80/s
80/s
160/s
n/a
n/a
3,100 kg
6,835.5 lb
90/s
90/s
90/s
80/s
80/s
160/s
n/a
n/a
3,050 kg
6,725.3 lb
185/s
185/s
185/s
360/s
410/s
500/s
n/a
n/a
110 kg
242.6 lb
123.5/s
120/s
123.5/s
360/s
360/s
360/s
n/a
n/a
370 kg
815.9 lb
120/s
120/s
125/s
360/s
360/s
360/s
n/a
n/a
540 kg
1,190.7 lb
124/s
127/s
112/s
360/s
360/s
360/s
n/a
n/a
560 kg
1,234.8 lb
100/s
100/s
110/s
450/s
450/s
550/s
n/a
n/a
590 kg
1,301 lb
150/s
120/s
155/s
360/s
360/s
360/s
n/a
n/a
650 kg
1,433.3 lb
155/s
125/s
155/s
450/s
550/s
650/s
n/a
n/a
1,030 kg
2,271.2 lb
Power Rating
1.5 kVA
2 kVA
2 kVA
4 [6] kVA
4 kVA
9.5 kVA
9.5 kVA
10 kVA
5 kVA
7.5 kVA
7.5 kVA
22 kVA
22 kVA
1.5 kVA
5 kVA
5 kVA
5 kVA
5 kVA
5 kVA
5 kVA
n/a
n/a
0.167 Nm
n/a
3.5 Nm
1.5 Nm
n/a
2.26 Nm
0 Nm
n/a
n/a
n/a
n/a
78.4 Nm
20.5 Nm
n/a
n/a
n/a
n/a
n/a
n/a
n/a
n/a
n/a
n/a
n/a
n/a
n/a
n/a
n/a
82 Nm
82 Nm
41 Nm
735 Nm
735 Nm
421 Nm
735 Nm
735 Nm
421 Nm
1,274 Nm
2,156 Nm
0 Nm
1,274 Nm
2,156 Nm
0 Nm
8.0 Nm
8.0 Nm
3.0 Nm
30.4 Nm
19.6 Nm
9.8 Nm
45.8 Nm
33.8 Nm
10.8 Nm
30.4 Nm
19.6 Nm
9.8 Nm
45.8 Nm
33.8 Nm
10.8 Nm
77.4 Nm
49.9 Nm
19.6 Nm
72 Nm
51.5 Nm
19.6 Nm
n/a
n/a
0.017 kgm
n/a
0.065 kgm
0.012 kgm
n/a
0.065 kgm
0.012 kgm
n/a
n/a
5.5 kgm
n/a
16 kgm
6.1 kgm
n/a
n/a
80 kgm
n/a
n/a
80 kgm
n/a
n/a
140 kgm
n/a
n/a
200 kgm
n/a
n/a
550 kgm
2 kgm
2 kgm
0.5 kgm
45 kgm
45 kgm
15 kgm
45 kgm
45 kgm
15 kgm
84.5 kgm
330 kgm
80 kgm
84.5 kgm
330 kgm
80 kgm
0.20 kgm
0.20 kgm
0.07 kgm
0.97 kgm
0.40 kgm
0.10 kgm
1.45 kgm
0.79 kgm
0.10 kgm
0.97 kgm
0.40 kgm
0.10 kgm
1.45 kgm
0.79 kgm
0.10 kgm
2.45 kgm
1.20 kgm
0.20 kgm
2.45 kgm
1.20 kgm
0.20 kgm
Payload
Vertical Reach
Horizontal Reach
Repeatability
Maximum Motion Range
S-Axis (Turning/Sweep)
S-Axis (Wall Mount)
L-Axis (Lower Arm)
U-Axis (Upper Arm)
R-Axis (Wrist Roll)
B-Axis (Bend/Pitch/Yaw)
T-Axis (Wrist Twist)
7th-Axis
Other
Maximum Speed
S-Axis
L-Axis
U-Axis
R-Axis
B-Axis
T-Axis
7th-Axis
Other
185/s [176/s]
170/s
215/s [172/s] 170/s [131/s]
215/s [172/s] 170/s [153/s]
n/a
n/a
n/a
170/s
374/s [336/s]
350/s
n/a
n/a
n/a
n/a
670 kg
550 kg
1,477.4 lb
1,212.8 lb
Allowable Moment
R-Axis
B-Axis
T-Axis
S-AXIS MAXIMUM MOTION RANGE FOR RIGHT OFFSET EPX2700 SHOWN; LEFT OFFSET S-AXIS MAXIMUM MOTION RANGE IS +25/-125
SHELF-MOUNT MODEL (EPX2800R) ALSO AVAILABLE; CONTACT YASKAWA MOTOMAN FOR SPECIFICATIONS
N/A = NOT APPLICABLE
TECHNICAL SPECIFICATIONS SUBJECT TO CHANGE WITHOUT NOTICE
MH3F
MH3BM
MHJF
MH5S
MH5F
MH6-10
HP20RD
HP20
HP20D-6
MH50-20
MH50
MC2000
MH6S
MH6
MH5LS
MH5LF
MH80
HP20D-A80
MS80W
MS120
MH50-35
Models
Controller
DX100, DXM100,
FS100, MLX100, NX100
MC2000
MH50
MH50-20
MH50-35
MH80
MS80W
MS120
DX
DX
DX
DX
DX
DX
DX
DX
DX
F
MH6S
MH6-10
HP20
HP20RD
HP20D-6
DX, FS
DX
DX, FS
DX, FS
DX
FS
FS
F, C
F, W, C
F, W, C
F, W, C
F, W, C
F, W, C
F, W, C
F, W, C
F, W, C
F, W, C
F, W, C
F, W, C
F, W, C
F, W, C
F, S
1 [2] kg
2.2 [4.4] lb
909 mm
35.8"
545 mm
21.5"
0.03 mm
0.001"
3 kg
6.6 lb
804 mm
31.7"
532 mm
20.9"
0.03 mm
0.001"
5 kg
11 lb
1,193 mm
47"
706 mm
27.8"
0.02 mm
0.0008"
5 kg
11 lb
1,560 mm
61.4"
895 mm
35.2"
0.03 mm
0.001"
6 kg
13.2 lb
2,486 mm
97.9"
1,422 mm
56"
0.08 mm
0.003"
6 kg
13.2 lb
1,597 mm
62.9"
997 mm
39.3"
0.08 mm
0.003"
10 kg
22.1 lb
2,486 mm
97.9"
1,422 mm
56"
0.08 mm
0.003"
20 kg
44.1 lb
3,063 mm
120.6"
1,717 mm
67.6"
0.06 mm
0.002"
20 kg
44.1 lb
3,134 mm
123.4"
2,017 mm
79.4"
0.06 mm
0.002"
6 kg
13.2 lb
3,459 mm
136.2"
1,915 mm
75.4"
0.06 mm
0.002"
20 kg
44.1 lb
3,063 mm
120.6"
1,717 mm
67.6"
0.06 mm
0.002"
50 kg
110.3 lb
3,164 mm
124.6"
2,038 mm
80.2"
0.07 mm
0.003"
50 kg
110.3 lb
3,578 mm
140.9"
2,061 mm
81.1"
0.07 mm
0.003"
20 kg
44.1 lb
5,585 mm
219.9"
3,106 mm
122.3"
0.15 mm
0.006"
35 kg
77.2 lb
4,448 mm
175.1"
2,538 mm
100"
0.07 mm
0.003"
80 kg
176.4 lb
3,578 mm
140.9"
2,061 mm
81.1"
0.07 mm
0.003"
80 kg
176.4 lb
3,751 mm
147.7"
2,236 mm
88"
0.07 mm
0.003"
120 kg
264.6 lb
2,163 mm
85.2"
1,623 mm
63.9"
0.2 mm
0.008"
160
n/a
+110/-90
+105/-290
180
130
360
n/a
n/a
160 [180]
25
+90/-85
+260/-105
170
120
360
n/a
n/a
170
30
+150/-65
+255/-136
190
135
360
n/a
n/a
170
30
+150/-65
+255/-138
190
135
360
n/a
n/a
170
30
+155/-90
+250/-175
180
+225/-45
360
n/a
n/a
170
30
+133/-80
+165/-130
180
+225/-45
360
n/a
n/a
170
30
+155/-90
+250/-175
180
+225/-45
360
n/a
n/a
180
30
+155/-100
+255/-165
200
+230/-50
360
n/a
n/a
+125/-110
n/a
+105/-130
+310/-115
200
140
360
n/a
n/a
180
30
+155/-100
+255/-165
200
+230/-50
360
n/a
n/a
180
30
+155/-110
+255/-165
200
+230/-50
360
n/a
n/a
180
n/a
+135/-60
+235/-157
360
125
360
n/a
n/a
180
30
+135/-90
+251/-170
360
125
360
n/a
n/a
180
30
+135/-90
+251/-160
190
+230/-50
360
n/a
n/a
180
30
+135/-90
+296/-160
360
125
360
n/a
n/a
180
30
+135/-90
+251/-170
360
125
360
n/a
n/a
180
n/a
+155/-90
+160/-185
360
125
360
n/a
n/a
150
n/a
+50/-60
+72/-105
360
130
360
n/a
n/a
Approximate Mass
160/s
130/s
200/s
300/s
400/s
500/s
n/a
n/a
15 kg
33.1 lb
200/s [310/s]
150/s
190/s
300/s
300/s
420/s
n/a
n/a
27 kg
59.5 lb
376/s
350/s
400/s
450/s
450/s
720/s
n/a
n/a
27 kg
59.5 lb
270/s
280/s
300/s
450/s
450/s
720/s
n/a
n/a
29 kg
63.9 lb
220/s
200/s
220/s
410/s
410/s
610/s
n/a
n/a
130 kg
286.7 lb
220/s
220/s
220/s
410/s
410/s
610/s
n/a
n/a
120 kg
264.6 lb
140/s
130/s
135/s
270/s
270/s
400/s
n/a
n/a
130 kg
286.7 lb
197/s
175/s
187/s
400/s
400/s
600/s
n/a
n/a
268 kg
590.9 lb
180/s
175/s
187/s
400/s
400/s
600/s
n/a
n/a
293 kg
646.1 lb
197/s
175/s
187/s
400/s
400/s
600/s
n/a
n/a
273 kg
602 lb
197/s
175/s
187/s
400/s
400/s
600/s
n/a
n/a
268 kg
590.9 lb
150/s
150/s
150/s
250/s
250/s
250/s
n/a
n/a
845 kg
1,863.2 lb
180/s
178/s
178/s
250/s
250/s
360/s
n/a
n/a
550 kg
1,212.8 lb
180/s
178/s
178/s
400/s
400/s
600/s
n/a
n/a
495 kg
1,091.5 lb
180/s
140/s
178/s
250/s
250/s
360/s
n/a
n/a
570 kg
1,256.9 lb
170/s
140/s
160/s
230/s
230/s
350/s
n/a
n/a
555 kg
1,223.8 lb
170/s
140/s
160/s
230/s
230/s
350/s
n/a
n/a
580 kg
1,278.9 lb
130/s
110/s
130/s
215/s
180/s
300/s
n/a
n/a
950 kg
2,094.8 lb
Power Rating
0.5 kVA
0.5 kVA
1 kVA
1 kVA
1.5 kVA
1.5 kVA
1.5 kVA
2 kVA
2 kVA
2.8 kVA
2 kVA
3.5 kVA
4 kVA
3.5 kVA
4 kVA
4.5 kVA
4 kVA
7.5 kVA
3.33 Nm
3.33 Nm
0.98 Nm
5.39 Nm
5.39 Nm
2.94 Nm
12 Nm
12 Nm
7 Nm
12 Nm
12 Nm
7 Nm
11.8 Nm
9.8 Nm
5.9 Nm
11.8 Nm
9.8 Nm
5.9 Nm
12.2 Nm
14.2 Nm
7.3 Nm
39.2 Nm
39.2 Nm
19.6 Nm
39.2 Nm
39.2 Nm
19.6 Nm
11.8 Nm
9.8 Nm
5.9 Nm
39.2 Nm
39.2 Nm
19.6 Nm
110 Nm
110 Nm
55 Nm
216 Nm
216 Nm
147 Nm
39.2 Nm
39.2 Nm
19.6 Nm
147 Nm
147 Nm
78 Nm
392 Nm
392 Nm
196 Nm
392 Nm
392 Nm
196 Nm
588 Nm
588 Nm
392 Nm
0.058 kgm
0.058 kgm
0.005 kgm
0.1 kgm
0.1 kgm
0.03 kgm
0.3 kgm
0.3 kgm
0.1 kgm
0.3 kgm
0.3 kgm
0.1 kgm
0.27 kgm
0.27 kgm
0.06 kgm
0.27 kgm
0.27 kgm
0.06 kgm
0.24 kgm
0.21 kgm
0.06 kgm
1.05 kgm
1.05 kgm
0.75 kgm
1.05 kgm
1.05 kgm
0.75 kgm
0.24 kgm
0.17 kgm
0.06 kgm
1.05 kgm
1.05 kgm
0.75 kgm
7 kgm
7 kgm
1 kgm
28 kgm
28 kgm
11 kgm
1.05 kgm
1.05 kgm
0.75 kgm
10 kgm
10 kgm
4 kgm
28 kgm
28 kgm
11 kgm
28 kgm
28 kgm
11 kgm
35 kgm
35 kgm
14.5 kgm
XP ENVIRONMENTALLY HARDENED
Mounting
Degrees of Freedom
Payload
Vertical Reach
Horizontal Reach
Repeatability
Maximum Motion Range
S-Axis (Turning/Sweep)
S-Axis (Wall Mount)
L-Axis (Lower Arm)
U-Axis (Upper Arm)
R-Axis (Wrist Roll)
B-Axis (Bend/Pitch/Yaw)
T-Axis (Wrist Twist)
7th-Axis
Other
Maximum Speed
S-Axis
L-Axis
U-Axis
R-Axis
B-Axis
T-Axis
7th-Axis
Other
HP20D-A80
MH6
Allowable Moment
R-Axis
B-Axis
T-Axis
ES200RD-120
ES165RD
ES165D/ES200D
ES280D
MH165
HP350D
ES280D-230
ES200RD
MH165-100
HP350D-200
MH250
MH215
UP400RD
MYS450
HP500D/HP600D
MYS850L
MYS650L
MYS1000
ES165D *
ES165RD
MH165 *
MH165-100
ES200D
ES200RD
ES200RD-120
MH215
MH250
ES280D
ES280D-230
HP350D
HP350D-200
UP400RD
HP500D
HP600D
MYS450
MYS650L
MYS850L
MYS1000
DX
DX
DX
DX
DX
DX
DX
DX
DX
DX
DX
DX
DX
DX
DX
DX
DXM
DXM
DXM
DXM
XP ENVIRONMENTALLY HARDENED
SCARA
SCARA
SCARA
SCARA
Mounting
Degrees of Freedom
165 kg
363.8 lb
3,372 mm
132.8"
2,651 mm
104.4"
0.2 mm
0.008"
165 kg
363.8 lb
4,782 mm
188.3"
3,140 mm
123.6"
0.2 mm
0.008"
165 kg
363.8 lb
3,372 mm
132.8"
2,651 mm
104.4"
0.2 mm
0.008"
100 kg
220.5 lb
4,091 mm
161.1"
3,010 mm
118.5"
0.2 mm
0.008"
200 kg
441 lb
3,372 mm
132.8"
2,651 mm
104.4"
0.2 mm
0.008"
200 kg
441 lb
4,782 mm
188.3"
3,140 mm
123.6"
0.2 mm
0.008"
120 kg
264.6 lb
6,512 mm
256.4"
4,004 mm
157.6"
0.2 mm
0.008"
215 kg
474.1 lb
3,894 mm
153.3"
2,912 mm
114.6"
0.2 mm
0.008"
250 kg
551.3 lb
3,490 mm
137.4"
2,710 mm
106.7"
0.2 mm
0.008"
280 kg
617.4 lb
2,962 mm
116.6"
2,446 mm
96.3"
0.2 mm
0.008"
230 kg
507.2 lb
3,372 mm
132.8"
2,651 mm
104.4"
0.2 mm
0.008"
350 kg
771.8 lb
2,761 mm
108.7"
2,542 mm
100.1"
0.5 mm
0.02"
200 kg
441 lb
3,506 mm
138"
3,036 mm
119.5"
0.5 mm
0.02"
400 kg
882 lb
4,908 mm
193.2"
3,518 mm
138.5"
0.5 mm
0.02"
500 kg
1,102.5 lb
2,761 mm
108.7"
2,542 mm
100.1"
0.5 mm
0.02"
600 kg
1,323 lb
2,761 mm
108.7"
2,542 mm
100.1"
0.5 mm
0.02"
5 [10] kg
11 [22.1] lb
420 mm
16.5"
850 mm radial
33.5"
0.025 mm
0.001"
10 [20] kg
22.1 [44.1] lb
420 mm
16.5"
1,000 mm radial
39.4"
0.025 mm (S, L Axes)
0.001"
180
n/a
+76/-60
+230/-142.5
360
130
360
n/a
n/a
180
n/a
+80/-130
+208/-112
360
130
360
n/a
n/a
180
n/a
+76/-60
+230/-142.5
360
130
360
n/a
n/a
180
n/a
+76/-60
+230/-142.5
360
130
360
n/a
n/a
180
n/a
+76/-60
+230/-142.5
360
125
360
n/a
n/a
180
n/a
+80/-130
+280/-107
360
125
360
n/a
n/a
180
n/a
+80/-130
+190/-107
360
130
360
n/a
n/a
180
n/a
+76/-60
+230/-142.5
360
125
360
n/a
n/a
180
n/a
+76/-60
+230/-142.5
360
125
360
n/a
n/a
180
n/a
+76/-60
+230/-142.5
360
125
360
n/a
n/a
180
n/a
+76/-60
+230/-142.5
360
125
360
n/a
n/a
150
n/a
+61/-55
+30/-113
360
125
360
n/a
n/a
150
n/a
+61/-55
+30/-113
360
125
360
n/a
n/a
150
n/a
+20/-122
+120/-9
360
120
360
n/a
n/a
150
n/a
+61/-55
+30/-113
360
125
360
n/a
n/a
150
n/a
+61/-55
+30/-113
360
125
360
n/a
n/a
+242/-62
n/a
147.5
180 mm
360
n/a
n/a
n/a
n/a
+242/-62
n/a
147.5
330 mm
360
n/a
n/a
n/a
n/a
+242/-62
n/a
152.5
420 mm
360
n/a
n/a
n/a
n/a
+242/-62
n/a
152.5
420 mm
360
n/a
n/a
n/a
n/a
110/s
110/s
110/s
175/s
150/s
240/s
n/a
n/a
1,100 kg
2,425.5 lb
105/s
105/s
105/s
175/s
150/s
240/s
n/a
n/a
1,540 kg
3,395.7 lb
110/s
110/s
110/s
175/s
150/s
240/s
n/a
n/a
1,100 kg
2,425.5 lb
110/s
110/s
110/s
175/s
150/s
240/s
n/a
n/a
1,120 kg
2,469.6 lb
95/s
90/s
95/s
120/s
120/s
190/s
n/a
n/a
1,130 kg
2,491.7 lb
90/s
85/s
85/s
120/s
120/s
190/s
n/a
n/a
1,570 kg
3,461.9 lb
90/s
85/s
85/s
175/s
150/s
240/s
n/a
n/a
1,560 kg
3,440 lb
100/s
90/s
97/s
120/s
120/s
190/s
n/a
n/a
1,140 kg
2,513.7 lb
100/s
90/s
97/s
120/s
120/s
190/s
n/a
n/a
1,130 kg
2,491.7 lb
90/s
80/s
90/s
115/s
110/s
190/s
n/a
n/a
1,120 kg
2,469.6 lb
80/s
70/s
80/s
115/s
110/s
190/s
n/a
n/a
1,130 kg
2,491.7 lb
95/s
95/s
95/s
100/s
100/s
160/s
n/a
n/a
2,200 kg
4,851 lb
95/s
95/s
95/s
100/s
100/s
160/s
n/a
n/a
2,250 kg
4,961.3 lb
80/s
80/s
80/s
80/s
80/s
160/s
n/a
n/a
3,600 kg
7,938 lb
80/s
80/s
80/s
100/s
100/s
160/s
n/a
n/a
2,350 kg
5,181.8 lb
60/s
70/s
70/s
80/s
80/s
160/s
n/a
n/a
2,400 kg
5,292 lb
420/s
720/s
1,083 mm/s
2,400/s
n/a
n/a
n/a
n/a
27 kg
59.5 lb
420/s
720/s
2,280 mm/s
2,400/s
n/a
n/a
n/a
n/a
28 kg
61.7 lb
424/s
678/s
2,350 mm/s
2,415/s
n/a
n/a
n/a
n/a
48 kg
105.8 lb
405/s
648/s
2,315 mm/s
1,700/s
n/a
n/a
n/a
n/a
48 kg
105.8 lb
5 kVA
10 kVA
5 kVA
5 kVA
5 kVA
10 kVA
5 kVA
6 kVA
6 kVA
10 kVA
10 kVA
5.5 kVA
5.5 kVA
12 kVA
10 kVA
13 kVA
1.25 kVA
1.25 kVA
1.25 kVA
1.25 kVA
921 Nm
921 Nm
490 Nm
921 Nm
921 Nm
490 Nm
921 Nm
921 Nm
490 Nm
833 Nm
833 Nm
490 Nm
1,344 Nm
1,344 Nm
715 Nm
1,344 Nm
1,344 Nm
715 Nm
833 Nm
833 Nm
490 Nm
1,176 Nm
1,176 Nm
710 Nm
1,344 Nm
1,344 Nm
735 Nm
1,333 Nm
1,333 Nm
706 Nm
1,333 Nm
1,333 Nm
706 Nm
1,960 Nm
1,960 Nm
823 Nm
1,666 Nm
1,666 Nm
686 Nm
1,960 Nm
1,960 Nm
833 Nm
1,960 Nm
1,960 Nm
823 Nm
2,450 Nm
2,450 Nm
823 Nm
n/a
n/a
n/a
n/a
n/a
n/a
n/a
n/a
n/a
n/a
n/a
n/a
85 kgm
85 kgm
45 kgm
85 kgm
85 kgm
45 kgm
85 kgm
85 kgm
45 kgm
75 kgm
75 kgm
25 kgm
143 kgm
143 kgm
80 kgm
143 kgm
143 kgm
80 kgm
75 kgm
75 kgm
25 kgm
317 kgm
317 kgm
200 kgm
317 kgm
317 kgm
200 kgm
142 kgm
142 kgm
79 kgm
142 kgm
142 kgm
79 kgm
150 kgm
150 kgm
90 kgm
150 kgm
150 kgm
30 kgm
150 kgm
150 kgm
50 kgm
150 kgm
150 kgm
90 kgm
200 kgm
200 kgm
90 kgm
Payload
Vertical Reach
Horizontal Reach
Repeatability
3 [6] kg
3 [6] kg
6.6 [13.2] lb
6.6 [13.2] lb
180 mm
330 mm
7.1"
13"
450 mm radial
650 mm radial
17.7"
25.6"
0.015 mm (S, L Axes) 0.015 mm (S, L Axes)
0.0006"
0.0006"
Maximum Speed
S-Axis
L-Axis
U-Axis
R-Axis
B-Axis
T-Axis
7th-Axis
Other
Approximate Mass
Power Rating
Allowable Moment
R-Axis
B-Axis
T-Axis
MAXIMUM SPECIFICATIONS IN BRACKETS; CONTACT YASKAWA MOTOMAN FOR U- AND R-AXIS REPEATABILITY
N/A = NOT APPLICABLE
TECHNICAL SPECIFICATIONS SUBJECT TO CHANGE WITHOUT NOTICE
CONTROLLERS
MAINTENANCE
PENDANT
SAFETY
CONTROLLER
Models
DX100
DXM100
FS100
Dimensions
Approximate Mass
47 kg (103.6 lb)
Ambient Temperature
Relative Humidity
85% non-condensing
I/O Options
ControlLogix supported
Interface
Ethernet, RS-232C
2 robots
Programming Language
n/a
n/a
Target Applications
All
All
Safety Specs
Collision Avoidance
Interference zones
Collision Detection
Safety Interlock
Pendant Dimensions
Pendant Display
Pendant Weight
Pendant O/S
Windows CE
Windows CE
Windows CE
n/a
Windows CE
Pendant Interface
n/a
Backup Media
Protection Rating
IP65
IP65
IP65
IP65
Self-Diagnostics
Alarm Display
Displays alarm messages and history for robots and peripheral devices
Displays alarm messages and history for robots and peripheral devices
Displays alarm messages and history for robots and peripheral devices
Displays alarm messages and history for robots and peripheral devices
Displays alarm messages and history for robots and peripheral devices
Diagnostics
n/a
TCP Calibration
n/a
Yaskawa
America
Yaskawa
Europe
Yaskawa Electric
Corporation
WORLDWIDE
PEACE OF MIND
GLOBAL SUPPORT
NETWORK
n EDUCATE
n SUSTAINABILITY
n SUPPORT
n ASSET MANAGEMENT
Yaskawa Mxico SA de CV
Circuito Aguascalientes Oriente 134C
Parque Industrial del Valle de Ags
San Francisco de los Romo, Ags 20358
Mxico
52.449.973.1170
Yaskawa Mxico SA de CV
Av. Regioparque 128
Regio Parque Industrial
Apodaca, Nuevo Len 66633
Mxico
52.81.8386.8113
Motoman Robtica do Brasil
Av. Dona Ida Cerati Magrini 936
Vila Oriental
Diadema - So Paulo
09951-260
Brazil
55.11.4352.3002
www.motoman.com
REQUEST DETAIL DRAWINGS FOR ALL DESIGN/ENGINEERING REQUIREMENTS
DS-464-E 2013 YASKAWA AMERICA, INC. DECEMBER 2013