5.1 Basic Specifications
5-1
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.
*4
Conformed to IP54 for the main part of the manipulator (floor-mounted type only). Conformed to IP67 for the
wri
st part (IP65 for the main part is optional.)
Table. 3 Basic Specifications
*1
Item Model
MOTOMAN-HP20
Configuration
Vertically Articulated
Degree of Freedom
6
Payload
20 kg
Repeatability
*2
±
0.06 mm
Range of
Motion
S-axis (turning)
±
180
°
L-axis (lower arm)
+155
°
, -110
°
U-axis (upper arm)
+255
°
, -165
°
R-axis (wrist roll)
±
200
°
B-axis (wrist pitch/yaw)
+230
°
, -50
°
T-axis (wrist twist)
±
360
°
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
6.20 rad/s, 355
°
/s
B-axis
6.02 rad/s, 345
°
/s
T-axis
9.16 rad/s, 525
°
/s
Allowable
Moment
*3
R-axis
39.2 N
m (0.9 kgf
m)
B-axis
39.2 N
m (0.9 kgf
m)
T-axis
19.6 N
m (0.25 kgf
m)
Allowable
Inertia
(GD
2
/4)
*3
R-axis
0.9 kg
m
2
B-axis
0.9 kg
m
2
T-axis
0.25 kg
m
2
Mass
280 kg
Ambient
Conditions
*4
Temperature
0 to 45
°
C
Humidity
20 to 80% RH (at constant temperature)
Vibration Acceleration
4.9 m/s
2
(0.5G) or less
Others
• Free from corrosive gasses or liquids, or explo-
sive gasses
• Clean and dry
• Free from excessive electrical noise (plasma)
Power Requirements
2.8 kVA
