| Item | Specifications | ||||
|---|---|---|---|---|---|
| Structure | Vertical articulated type | ||||
| Number of axes | 6 | ||||
| Max payload capacity | 8 kg | ||||
| Positional repeatability | +/- 0.08mm *Note 1* | ||||
| Drive system | AC servo motor | ||||
| Drive capacity | 4832 w | ||||
| Position feedback | Absolute encoder | ||||
| Working Range | Arm | Axis J1(Rotation) | +/- 170° (+/-50) *Note 2* | ||
| Axis J2(Lower) | -155°~+100° *Note 3* | ||||
| Axis J3 (Upper) | -170°~+190° | ||||
| Wrist | Axis J4 (Swing) | +/- 155° (+/- 170°) *Note 4* | |||
| Axis J5 (Bending) | -45°~+225° | ||||
| Axis J6 (Twist) | +/-205° (+/- 360°) *Note 4&5* | ||||
| Max. Velocity | Arm | Axis J1(Rotation) | 3.40 rad/s {195°/s} (3.05 rad/s {175°/s} *Note 2* |
||
| Axis J2(Lower) | 3.49 rad/s {200°/s} | ||||
| Axis J3 (Upper) | 3.49 rad/s {200°/s} | ||||
| Wrist | Axis J4 (Swing) | 7.50 rad/s {430°/s} | |||
| Axis J5 (Bending) | 7.50 rad/s {430°/s} | ||||
| Axis J6 (Twist) | 11.00 rad/s {630°/s} | ||||
| Wrist Load |
Allowable Movement | Axis J4 (Swing) | 10.5 N*m | ||
| Axis J5 (Bending) | 10.5 N*m | ||||
| Axis J6 (Twist) | 5.9 N*m | ||||
| Allowable Movement of Inertia | Axis J4 (Swing) | 0.28 kg*m² | |||
| Axis J5 (Bending) | 0.28 kg*m² | ||||
| Axis J6 (Twist) | 0.06 kg*m² | ||||
| Arm operation cross-sectional area | 6.37m² x 340° | ||||
| Ambient conditions | 0~45°C,20 ~ 80%RH (No condensation) | ||||
| Mass (weight) | 287 kg | ||||
| Upper arm payload capacity | 20 kg *Note 6* | ||||
| Installation type | Floor, ceiling or wall hanging type | ||||
| Paint color | White (Munsell value 10gy9/1) | ||||
