Motoman SK300X, Руководство пользователя, Страница: 100 / 553

5.1 Basic Specifications
5-1
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. 2 Basic Specifications
*1
Item Model
MOTOMAN-SK300X-400
(YR-SK300-J2)
MOTOMAN-SK300X
(YR-SK300-J0)
MOTOMAN-SK300X-170
(YR-SK300-J1)
Operation Mode Vertically Articulated
Degree of Freedom 6
Payload 400kg 300kg 170kg
Repetitive Positioning Accuracy
*2
±0.5mm
Motion
Range
S-Axis (turning) ±150
°
L-Axis (lower arm) +60
°
, -55
°
U-Axis (upper arm) +30
°
, -110
°
R-Axis (wrist roll) ±350
°
B-Axis (wrist pitch/yaw) ±125
°
T-Axis (wrist twist) ±350
°
Maximum
Speed
S-Axis 1.22 rad/s, 70
°
/s 1.31 rad/s, 75
°
/s 1.40 rad/s, 80
°
/s
L-Axis 1.22 rad/s, 70
°
/s 1.31 rad/s, 75
°
/s 1.40 rad/s, 80
°
/s
U-Axis 1.22 rad/s, 70
°
/s 1.31 rad/s, 75
°
/s 1.40 rad/s, 80
°
/s
R-Axis 1.40 rad/s, 80
°
/s 1.75 rad/s, 100
°
/s 2.09 rad/s, 120
°
/s
B-Axis 1.40 rad/s, 80
°
/s 1.75 rad/s, 100
°
/s 2.09 rad/s, 120
°
/s
T-Axis 1.40 rad/s, 80
°
/s 2.79 rad/s, 160
°
/s 3.14 rad/s, 180
°
/s
Allowable
Moment
*3
R-Axis 1960N•m (200kgf•m) 1666N•m (170kgf•m) 1176N•m (120kgf•m)
B-Axis 1960N•m (200kgf•m) 1666N•m (170kgf•m)) 1176N•m (120kgf•m)
T-Axis 823N•m (84kgf•m) 686N•m (70kgf•m) 686N•m (70kgf•m)
Allowable
Inertia
(GD
2
/4)
R-Axis
120kg•m
2
150kg•m
2
85kg•m
2
B-Axis
120kg•m
2
150kg•m
2
85kg•m
2
T-Axis
50kg•m
2
30kg•m
2
30kg•m
2
Mass 2150kg 2200kg 2220kg
Ambient
Conditions
Temperature 0
°
to 45C
°
Humidity 20 to 80% RH (non-condensing)
Vibration Less than 0.5G
Others
• Free from corrosive gasses or liquids, or explosive gasses
• Clean and dry
• Free from excessive electrical noise (plasma)
Power Capacity 15kVA