5.1 Basic Specifications
5-1
HW0482170
HW0482170
5
Basic Specifications
5.1
Basic Specifications
*1
SI units are used in this table. However, gravitational unit is used in ( ).
*2
Conformed to ISO9283
*3
Refer to " 6.1 Allowable Wrist Load " for details on the allowable moment and inertia.
Table. 3 Basic Specifications
*1
Item Model
MOTOMAN-EA1900N
Configuration
Vertically Articulated
Degree of Freedom
6
Payload
3 kg
Repeatability
*2
±
0.08 mm
Range of
Motion
S-axis (turning)
±
180
°
L-axis (lower arm)
+155
°
, -110
°
U-axis (upper arm)
+255
°
, -165
°
R-axis (wrist roll)
±
150
°
B-axis (wrist pitch/yaw)
+
180
°,
-45
°
T-axis (wrist twist)
±
200
°
Maximum
Speed
S-axis
2.96 rad/s, 170
°
/s
L-axis
2.96 rad/s, 170
°
/s
U-axis
3.05 rad/s, 175
°
/s
R-axis
5.93 rad/s, 340
°
/s
B-axis
5.93 rad/s, 340
°
/s
T-axis
9.08 rad/s, 520
°
/s
Allowable
Moment
*3
R-axis
8.8N m (0.9kgf m)
B-axis
8.8N m (0.9kgf m)
T-axis
2.9N m (0.3kgf m)
Allowable
Inertia
(GD
2
/4)
*3
R-axis
0.27kg m
2
B-axis
0.27kg m
2
T-axis
0.03kg m
2
Mass
280kg
Ambient
Condi-
tions
*4
Temperature
0
°
to 45C
°
Humidity
20 to 80% RH (non-condensing)
Vibration Acceleration
Less than 4.9m/s
2
(0.5G)
Others
• Free from corrosive gasses or liquids, or explosive gasses
• Clean and dry
• Free from excessive electrical noise (plasma)
Power Requirements
2.8kVA
