5.1 Basic Specifications
5-1
HW0483547
HW0483547
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 of inertia.
Table. 3 Basic Specifications
*1
Item
Model
MOTOMAN-HP3J
YR-HP3J-J00
Configuration
Vertically Articulated
Degree of Freedom
6
Payload
3 kg
Repeatability
*2
±
0.03 mm
Range of
Motion
S-axis (turning)
±
160
°
L-axis (lower arm)
+90
°
, -85
°
U-axis (upper arm)
+260
°
, -105
°
R-axis (wrist roll)
±
170
°
B-axis (wrist pitch/yaw)
±
120
°
T-axis (wrist twist)
±
360
°
Maximum
Speed
S-axis
3.49 rad/s, 200
°
/s
L-axis
2.62 rad/s, 150
°
/s
U-axis
3.32 rad/s, 190
°
/s
R-axis
5.24 rad/s, 300
°
/s
B-axis
5.24 rad/s, 300
°
/s
T-axis
7.33 rad/s, 420
°
/s
Allowable
Moment
*3
R-axis
5.39 N
m (0.55 kgf
m)
B-axis
5.39 N
m (0.55 kgf
m)
T-axis
2.94 N
m (0.3 kgf
m)
Allowable
Inertia
(GD
2
/4)
*3
R-axis
0.1 kg
m
2
B-axis
0.1 kg
m
2
T-axis
0.03 kg
m
2
Approx. Mass
27 kg
Ambient
Conditions
Temperature
0 to 40
°
C
Humidity
20 to 80% RH (at constant temperature)
Vibration Acceleration
Less than 4.9 m/s
2
(0.5G)
• Free from corrosive gas or liquid, or explosive
• Free from water, oil, or dust.
• Free from excessive electrical noise (plasma).
Power Requirements
0.5 kVA
25/50
