5-1
158813-1CD
HW1480080
MH80 Manipulator
5 Basic Specifications
5.1 Basic Specifications
5
Basic Specifications
5.1
Basic Specifications
Table 5-1: Basic Specifications
Item Model
MOTOMAN-MH80
Configuration
Vertically Articulated
Degree of Freedom
6
Payload
80 kg
Repeatability
1)
1 Conformed to ISO9283
±0.07 mm
Range of Motion
2)
2 For the limit switch specification (type: MOTOMAN-MH00080-A01),
the range of motion is limited with limit switch before shipment.
S-axis (turning)
-180
°
- +180
°
L-axis (lower arm)
-90
°
- +135
°
U-axis (upper arm)
-170
°
- +251
°
R-axis (wrist roll)
-360
°
- +360
°
B-axis (wrist pitch/yaw)
-125
°
- +125
°
T- axis (wrist twist)
-360
°
- +360
°
Maximum Speed
S-axis
2.97 rad/s, 170
°
/s
L-axis
2.44 rad/s, 140
°
/s
U-axis
2.79 rad/s, 160
°
/s
R-axis
4.01 rad/s, 230
°
/s
B-axis
4.01 rad/s, 230
°
/s
T-axis
6.11 rad/s, 350
°
/s
Allowable Moment
3)
3 Refer to
Table 6-1 "Allowable Total Moment of Wrist" on page 6-1
on the allowable moment of inertia.
Note: SI units are used in this table. However, gravitational unit is used in ().
2.97 rad/s, 170
°
/s
392 N•m (40 kgf•m)
2.44 rad/s, 140
°
/s
392 N•m (40 kgf•m)
2.79 rad/s, 160
°
/s
196 N•m (20 kgf•m)
Allowable Inertia (GD
2
/4) R-Axis
28 kg•m
2
B-Axis
28 kg•m
2
T-Axis
11 kg•m
2
Approx. Mass
555 kg
Ambient
Conditions
Temperature
0
°
C to 45
°
C
Humidity
20 to 80% RH at constant temperature
Vibration Acceleration
Less than 4.9 m/s
2
(0.5G)
Others
Free from corrosive gas or liquid, or explosive gas.
Free from water, oil, or dust.
Free from excessive electrical noise (plasma).
Power Capacity
4.5 kVA
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