5 Basic Specifications
5.1 Basic Specifications
5-1
155556-1CD
HW0484963
VA1400
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 ( ).
Item Model
MOTOMAN-VA1400
Application
Arc Welding
Structure
Vertically Articulated
Degree of Freedom
7
Payload
3 kg
Repeatability
2)
2 Conformed to ISO9283
±0.08 mm
Range of Motion
S-Axis (turning)
±170°
L-Axis (lower arm)
+148°, -70°
U-Axis (upper arm)
+150°, -175°
R-Axis (wrist roll)
±150°
B-Axis (wrist pitch/yaw) +180°, -45°
S-Axis (turning)
±200°
E-Axis (elbow)
±90°
Maximum Speed
S-Axis
3.84 rad/s, 220°/s
L-Axis
3.49 rad/s, 200°/s
U-Axis
3.84 rad/s, 220°/s
R-Axis
7.16 rad/s, 410°/s
B-Axis
7.16 rad/s, 410°/s
T-Axis
10.65 rad/s, 610°/s
E-Axis
3.84 rad/s, 220°/s
Allowable Moment
3)
3 Refer to
chapter 6.1 “Allowable Wrist Load”
for details on the permissible moment of inertia.
R-Axis
8.8 N•m (0.9 kgf•m)
B-Axis
8.8 N•m (0.9 kgf•m)
T-Axis
2.9 N•m (0.3 kgf•m)
Allowable Inertia (GD
2
/4) R-Axis
0.27 kg•m
2
B-Axis
0.27 kg•m
2
T-Axis
0.03 kg•m
2
Approx. Mass
150 kg
Ambient Conditions
Temperature
0° C to 45° C
Humidity
20 to 80% RH (non-condensing)
Vibration Acceleration
4.9 m/s
2
or less (0.5 G)
Others
Free from corrosive gasses or liquids, or explosive gasses
Free from exposure to water, oil, or dust
Free from excessive electrical noise (plasma)
Power Requirements
1.5 kVA
30 of 85
