5 Basic Specifications
5.1 Basic Specifications
5-1
170625-1CD
HW1482737
ES200RD II
5 Basic Specifications
5.1 Basic Specifications
Table 5-1: Basic Specifications
1)
Item Model MOTOMAN-ES200RD II
Structure Vertically Articulated
Degree of Freedom 6
Payload 200 kg
Repeatability
2)
±0.2 mm
Range of Motion S-Axis (turning) -180° - +180°
L-Axis (lower arm) -130° - +80°
U-Axis (upper arm) -107° - +208°
R-Axis (wrist roll) -360° - +360°
B-Axis (wrist pitch/yaw) -125° - +125°
T-Axis (wrist twist) -360° - +360°
Maximum Speed S-Axis 1.57 rad/s, 90°/s
L-Axis 1.48 rad/s, 85°/s
U-Axis 1.48 rad/s, 85°/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)
R-Axis 1344 N•m (137 kgf•m)
B-Axis 1344 N•m (137 kgf•m)
T-Axis 715 N•m (73 kgf•m)
Allowable Inertia (GD
2
/4) R-Axis 143 kg•m
2
B-Axis 143 kg•m
2
T-Axis 80 kg•m
2
Approx. Mass 1800 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
Free from exposure to water, oil, or dust
Free from excessive electrical noise (plasma)
Power Requirements 5 kVA
Noise
4)
70 dB
1 SI units are used in this table. However, gravitational unit is used in ( ).
2 Conformed to ISO9283
3 Refer to section 6.1 “Allowable Wrist Load” for details on the permissible moment of inertia.
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.
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