5
Basic Specifications
5.1
Basic Specifications
5-1
HW1483270
HW1483270
5
Basic Specifications
5.1
Basic Specifications
Table 5-1: Basic Specifications
*
1)
1 SI units are used in this table. However, gravitational unit is used in ( ). SI units are used in this table.
However, gravitational unit is used in ( ).
Item Model
MOTOMAN-MH600
YR-MH00600-A00
Configuration
Vertically Articulated
Degree of Freedom
6
Payload
600 kg
Repeatability
2)
2 Conforms to ISO9283
±0.3 mm
Motion Range
S-axis (turning)
-180
°
−
+180
°
L-axis (lower arm)
-55
°
−
+61
°
U-axis (upper arm)
-113
°
−
+18
°
R-axis (wrist roll)
-360
°
−
+360
°
B-axis (wrist pitch/yaw)
-115
°
−
+115
°
T-axis (wrist twist)
-360
°
−
+360
°
Maximum
Speed
3)
3 Depending on the operation position, it may not reach the maximum speed of each axis.
S-axis
1.43 rad/s, 82
°
/s
L-axis
1.43 rad/s, 82
°
/s
U-axis
1.43 rad/s, 82
°
/s
R-axis
1.40 rad/s, 80
°
/s
B-axis
1.40 rad/s, 80
°
/s
T-axis
2.83 rad/s, 162
°
/s
Allowable
Moment
4)
4 Refer to
chapter 6 “Allowable Load for Wrist Axis and Wrist Flange”
for details on the permissible moment of
inertia.
R-axis
3430 N•m (350 kgf•m)
B-axis
3430 N•m (350 kgf•m)
T-axis
1764 N•m (180 kgf•m)
Allowable
Inertia
(GD
2
/4)
R-axis
520 kg
•m
2
B-axis
520 kg
•m
2
T-axis
350 kg
•m
2
Mass
3050 kg
Protective Structure
Main part of the manipulator: IP30 or equivalent
Wrist axis only: IP67 or equivalent
Ambient
Conditions
Temperature
0 to 45
°
C
Humidity
20 to 80% RH (non-condensing)
Vibration Acceleration
Less than 4.9 m/s
2
(0.5 G)
Others
Free from corrosive gasses or liquids, or explosive gasses
Free from water, oil, or dust
Free from excessive electrical noise (plasma)
Power Capacity
7.0 kVA
Noise
5)
5 Conformed to ISO6926
1, Measurement is carried out when the maximum load is mounted to the manipulator and
operated in the maximum speed.
2, Measurement is carried out:
-between 1.2m and 1.5m above the ground.
-400mm away from the P-point maximum envelope.
70 dB
24/88
