MANIIPULATOR SPECIFICATIONS
Item |
Specifications |
|---|---|
| Structure | Vertical articulated type |
| Number of axis | 6 |
| Max. payload capacity | 25 K |
| Positional repeatability | +/- 0.07 mm /Note 1) |
| Drive system | AC Servo motor |
| Drive capacity | 11500 w |
| Position feedback | Absolute encoder |
| WORKING RANGE | |
| ARM | |
| J1 Revolving | +/- 180 ° |
| J2 Fore/Back | -155° ~ +90° |
| J3 Up/Down | -180°～+250° |
| WRIST | |
| J4 (Swing) | +/- 180° |
| J5 (Bending) | -50°～+230° |
| J6 (Twist) | +/- 360°(Note 2) |
| MAX VELOCITY | |
| ARM | |
| J1 (Revolving) | 3.39 rad/s｛194°/s｝ |
| J2 (Fore/Back) | 3.14 rad/s｛180°/s｝ |
| J3 (Up/Down) | 4.58 rad/s｛205°/s｝ |
| WRISTS | |
| J4 (Swing) | 7.85 rad/s｛450°/s｝ |
| J5 (Bending) | 7.68 rad/s｛440°/s｝ |
| J6 (Twist) | 10.56 rad/s｛605°/s｝ |
| WRIST LOAD | |
| ALLOWABLE MOVEMENT | |
| J4 (Swing) | 52.6 N*m |
| J4 (Bending) | 52.6 N*m |
| J6 (Twist) | 24.5 N*m |
| ALLOWABLE MOVEMENT OF INERTIA |
|
| J4 (Swing) | 1.24 kg*m2 |
| J5 (Bending) | 1.24 kg*m2 |
| J6 (Twist) | 0.33 kg*m2 |
| Arm operation cross-sectional area | 17.2 m2 × 360° |
| Ambient temperature and humidity | 0 ~ 45℃, 20 ~ 80 %RH (No condensation) |
| Mass (weight) | 620kg |
| Upper arm payload capacity | 10 kg (Note 3) |
| IP Code | IP54 equivalent (J1~4 Axis) |
| Installation type | Floor, ceiling hanging type |
| Paint color | White (Munsell 10GY9/1) |
Notes
1. The value of the positional repeatability is at the tool center point (TCP) compliant to ISO 9283.
2. There are occasions where restrictions can be made to the operation range of the J6 axis, depending
on the J5 axis’ s posture.
3. The upper arm movable mass changes depending on the wrist movable mass.
4. he positional data of absolute encoder is backed up by the battery. The battery backup period with the
primary power OFF is approx. 3 years.Exceeding this period will require the battery replacement and the
absolute offset adjustments.
5. The battery backup period may be shorter depending on the environmental conditions, the use conditions
and so on.
6. A holding brake is provided in all axes.
