YASKAWA MOTOMAN-MH215 II, Инструкция по эксплуатации

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5 Basic Specifications
5.1 Basic Specifications
5-1
177010-1CD
HW1483759
MH215
II
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-MH215 II
Structure Vertically Articulated
Degree of Freedom 6
Payload 215kg
Repeatability
2)
2 Conformed to ISO9283
±0.2 mm
Range of Motion S-Axis (turning) -180° - +180°
L-Axis (lower arm) -60° - +76°
U-Axis (upper arm) -142.5° - +230°
R-Axis (wrist roll) -360° - +360°
B-Axis (wrist pitch/yaw) -125° - +125°
T-Axis (wrist twist) -360° - +360°
Maximum Speed S-Axis 1.75 rad/s, 100°/s
L-Axis 1.57 rad/s, 90°/s
U-Axis 1.69 rad/s, 97°/s
R-Axis 2.09 rad/s, 120°/s
B-Axis 2.09 rad/s, 120°/s
T-Axis 3.32 rad/s, 190°/s
Allowable Moment
3)
3 Refer to
section 6.1 “Allowable Wrist Load”
for details on the permissible moment of inertia.
R-Axis 1176 N•m (120 kgf•m)
B-Axis 1176 N•m (120kgf•m)
T-Axis 710 N•m (72 kgf•m)
Allowable Inertia
(GD
2
/4)
R-Axis 317 kg•m
2
B-Axis 317 kg•m
2
T-Axis 200 kg•m
2
Approx. Mass 1140 kg
Protective Structure Basic axis: IP54 or equivalent
Wrist axis only: IP67 or equivalent
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 gas or liquid, or explosive gas or liquid
Free from exposure to water, oil, or dust
Free from excessive electrical noise (plasma)
Power Requirements 5.0 kVA
Noise
4)
4 Conformed to ISO6926
1, Measurement is carried out when the maximum load is mounted to the manipulator and
operated in the maximum speed.
2, Measurement is carried out:
• between 1.2 m and 1.5 m above the ground.
• 400 mm away from the P-point maximum envelope.
80 dB
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