5.1 Basic Specifications
5-1
HW0482143
5 Basic Specifications
5.1 Basic Specifications
*1 SI units are used in this table. However, gravitational unit is used in ().
*2 Conformed to ISO9283
*3 Refer to " 6.1 Allowable Wrist Load " for details on the allowable moment of inertia.
Table. 3 Basic Specifications
*1
Item Model MOTOMAN-ES200RN
Operation Mode Vertically Articulated
Degree of Freedom 6
Payload 200kg
Repeatability Positioning Accuracy
*2
±0.2mm
Motion
Range
S-Axis (turning) ±180°
L-Axis (lower arm) +80°, -130°
U-Axis (upper arm) +208°, -107°
R-Axis (wrist roll) ±360°
B-Axis (wrist pitch/yaw) ±125°
T-Axis (wrist twist) ±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 2.01 rad/s, 115°/s
B-Axis 1.92 rad/s, 110°/s
T-Axis 3.32 rad/s, 190°/s
Allowable
Moment
*3
R-Axis 1274N•m (130kgf•m)
B-Axis 1274N•m (130kgf•m)
T-Axis 686N•m (70kgf•m)
Allowable
Inertia
(GD
2
/4)
R-Axis
120kg•m
2
B-Axis
120kg•m
2
T-Axis
70kg•m
2
Mass 1570kg
Ambient
Conditions
Temperature 0° to 45C°
Humidity 20 to 80% RH (non-condensing)
Vibration acceleration
Less than4.9m/s
2
(0.5G)
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 Capacity 10kVA
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