5.1 Basic Specifications
5-1
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 and inertia.
*4
Conformed to IP54 for the main part of the manipulator (floor-mounted type only). Conformed to IP67 for the
wri
st part (IP65 for the main part is optional.)
Table. 3 Basic Specifications
*1
Item Model MOTOMAN-HP20
Configuration Vertically Articulated
Degree of Freedom 6
Payload 20 kg
Repeatability
*2
±0.06 mm
Range of
Motion
S-axis (turning) ±180°
L-axis (lower arm) +155°, -110°
U-axis (upper arm) +255°, -165°
R-axis (wrist roll) ±200°
B-axis (wrist pitch/yaw) +230°, -50°
T-axis (wrist twist) ±360°
Maximum
Speed
S-axis 2.96 rad/s, 170°/s
L-axis 2.96 rad/s, 170°/s
U-axis 3.05 rad/s, 175°/s
R-axis 6.20 rad/s, 355°/s
B-axis 6.02 rad/s, 345°/s
T-axis 9.16 rad/s, 525°/s
Allowable
Moment
*3
R-axis 39.2 Nm (0.9 kgfm)
B-axis 39.2 Nm (0.9 kgfm)
T-axis 19.6 Nm (0.25 kgfm)
Allowable
Inertia
(GD
2
/4)
*3
R-axis
0.9 kgm
2
B-axis
0.9 kgm
2
T-axis
0.25 kgm
2
Mass 280 kg
Ambient
Conditions
*4
Temperature 0 to 45°C
Humidity 20 to 80% RH (at constant temperature)
Vibration Acceleration
4.9 m/s
2
(0.5G) or less
Others
• Free from corrosive gasses or liquids, or explo-
sive gasses
• Clean and dry
• Free from excessive electrical noise (plasma)
Power Requirements 2.8 kVA
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