5.1 Basic Specifications
5-1
HW0481893
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 permissible moment of inertia.
Table. 3 Basic Specifications
*1
Operation Mode
Vertically Articulated
Degree of Freedom
6
Payload
6kg
Repetitive Positioning Accuracy
*2
±0.08mm
Motion
Range
S-Axis (turning)
±170
°
L-Axis (lower arm)
+155
°
, -90
°
U-Axis (upper arm)
+250
°
, -175
°
R-Axis (wrist roll)
±180
°
B-Axis (wrist pitch/yaw)
+225
°
, -45
°
T-Axis (wrist twist)
±360
°
Maximum
Speed
S-Axis
2.62 rad/s, 150
°
/s
L-Axis
2.79 rad/s, 160
°
/s
U-Axis
2.97 rad/s, 170
°
/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
11.8N•m (1.2kgf•m)
B-Axis
9.8N•m (1.0kgf•m)
T-Axis
5.9N•m (0.6kgf•m)
Allowable
Inertia
(GD
2
/4)
R-Axis
0.24kg•m
2
B-Axis
0.17kg•m
2
T-Axis
0.06kg•m
2
Mass
130kg
Ambient
Conditions
Temperature
0
°
to 45
°
C
Humidity
20 to 80% RH (no-condensing)
Vibration
Less than 4.9m/s
2
(0.5G)
Others
• Free from corrosive gas or liquid, or explosive
gas
• Free from dust, soot, or water
• Free from excessive electrical noise (plasma)
Power Capacity
1.5kVA
