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* |
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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) |