5-1
179394-1CD
HW1483905
5
Basic Specifications
5.1 Basic Specifications
MFL15D-875/-1600
5
Basic Specifications
5.1
Basic Specifications
Table 5-1: Basic Specifications
Name
1)
1 SI units are used in this table. However, gravitational unit is used in ( ).
MOTOMAN-MFL15D-875
MOTOMAN-MFL15D-1600
Type
YR-MFL015D-A00
YR-MFL015D-A20
Configuration
Horizontally Articulated
Degree of Freedom
4
Payload
15 kg/arm
Repeatability
2)
2 Conformed to ISO9283.
±0.2 mm
Range of Motion
U-axis (upper/lower)
875 mm
1600 mm
S-axis (turning)
-305° - +35°
L and R-axes (horizontal) -1080 mm - +1080 mm
Maximum Speed
U-axis
700 mm/s. max
600 mm/s. max
S-axis
3.93 rad/s (225° /s)
L and R-axes
1800 mm/s max
Allowable Moment
L and R-axes
30.0 N•m (3.0 kgf•m)
Allowable Inertia
(GD
2
/4)
3)
section 6.1 “Allowable Wrist Load”
for details on the allowable moment and inertia.
L and R-axes
2.6 kg•m
2
Approx. Mass
400 kg
590 kg
Standard Painting Color
Munsell value N9.5 or equivalent
Cleanliness Class
Class 4 (ISO standard)
Ambient
Conditions
Temperature
15 to 35°C
Humidity
20 to 80% RH (at a 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 or dust.
• Free from excessive electrical noise (plasma).
• Flatness of 0.5 mm or less for installation surface.
Power Capacity
2.0 kVA
3.0 kVA
33 of 74
