5 Basic Specifications
5.1 Basic Specifications
5-1
155492-1CD
HW0484820
SDA20
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
section 6.1 “Allowable Wrist Load”
for details on the permissible
moment of inertia.
Table 5-1: Basic Specifications
*1
Item
Model
MOTOMAN-SDA20
Configuration
Articulated
Degree of Freedom
7 axes for the right arm (R2); 7 axes for the left arm (R1);
1 rotation-axis
Payload
20 kg/arm
Repetitive Positioning Accuracy
*2
±0.1 mm
Range of
Motion
Rotation-axis
-180
° − +
180
°
S-axis (lifting
)
-180
° − +
180
°
L-axis (lower arm)
-110
° − +
110
°
7th-axis (lower arm twist)
-170
° − +
170
°
U-axis (upper arm)
-130
° − +
130
°
R-axis (upper arm twist)
-180
° − +
180
°
B-axis (wrist pitch/yaw)
-110
° − +
110
°
T-axis (wrist twist)
-180
° − +
180
°
Maximum
Speed
Rotation-axis
2.18 rad/s (125
°
/s)
S-axis
2.27 rad/s (130
°
/s)
L-axis
2.27 rad/s (130
°
/s)
7th-axis
2.97 rad/s (170
°
/s)
U-axis
2.97 rad/s (170
°
/s)
R-axis
3.49 rad/s (200
°
/s)
B-axis
3.49 rad/s (200
°
/s)
T-axis
6.98 rad/s (400
°
/s)
Allowable
Moment
*3
R-axis
58.8 N
·
m (6.0 kgf
·
m)
B-axis
58.8 N
·
m (6.0 kgf
·
m)
T-axis
29.4 N
·
m (3.0 kgf
·
m)
Allowable
Inertia
(GD
2
/4)
R-axis
4.0 kgf
·
m
2
B-axis
4.0 kgf
·
m
2
T-axis
2.0 kgf
·
m
2
Mass
380 kg
Ambient
Conditions
Temperature
0 to 40
°
C
Humidity
20 to 80% RH at constant temperature
Vibration acceleration
4.9 m/s
2
(0.5 G) or less
Others
• Free from corrosive gas or liquid, or explosive gas
• Free from water, oil, or dust
• Free from excessive electrical noise (plasma)
Power Capacity
4.4 kVA
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