YASKAWA MOTOMAN-ES165D - Basic Specifications; 5.1 Basic Specifications

5 Basic Specifications
5.1 Basic Specifications
5-1
155976-1CD
HW0485249
ES165D
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-ES165D MOTOMAN-ES165D
with external cabling for
SRBT-axes
Structure Vertically Articulated
Degree of Freedom 6
Payload 165 kg
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° -205° - +205°
B-Axis (wrist pitch/yaw) -130° - +130° -120° - +120°
T-Axis (wrist twist) -360° - +360° -200° - +200°
Maximum Speed S-Axis 1.92 rad/s, 110°/s
L-Axis 1.92 rad/s, 110°/s
U-Axis 1.92 rad/s, 110°/s
R-Axis 3.05 rad/s, 175°/s
B-Axis 2.62 rad/s, 150°/s
T-Axis 4.19 rad/s, 240°/s
Allowable Moment
3)
3 Refer to chapter 6.1 “Allowable Wrist Load” for details on the permissible moment of inertia.
R-Axis 921 N•m (94 kgf•m)
B-Axis 921 N•m (94 kgf•m)
T-Axis 490 N•m (50 kgf•m)
Allowable Inertia (GD
2
/4) R-Axis 85 kg•m
2
B-Axis 85 kg•m
2
T-Axis 45 kg•m
2
Approx. Mass 1100 kg
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 gasses or liquids, or explosive
gasses
Free from exposure to water, oil, or dust
Free from excessive electrical noise (plasma)
Power Requirements 5.0 kVA
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