YASKAWA MOTOMAN-HP6 YR-HP6-A00 - 5.1 Basic Specifications

5.1 Basic Specifications
5-1
HW0481893
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 permissible moment of inertia.
Table. 3 Basic Specifications
*1
Operation Mode Vertically Articulated
Degree of Freedom 6
Payload 6kg
Repetitive Positioning Accuracy
*2
±0.08mm
Motion
Range
S-Axis (turning) ±170°
L-Axis (lower arm) +155°, -90°
U-Axis (upper arm) +250°, -175°
R-Axis (wrist roll) ±180°
B-Axis (wrist pitch/yaw) +225°, -45°
T-Axis (wrist twist) ±360°
Maximum
Speed
S-Axis 2.62 rad/s, 150°/s
L-Axis 2.79 rad/s, 160°/s
U-Axis 2.97 rad/s, 170°/s
R-Axis 5.93 rad/s, 340°/s
B-Axis 5.93 rad/s, 340°/s
T-Axis 9.08 rad/s, 520°/s
Allowable
Moment
*3
R-Axis 11.8N•m (1.2kgf•m)
B-Axis 9.8N•m (1.0kgf•m)
T-Axis 5.9N•m (0.6kgf•m)
Allowable
Inertia
(GD
2
/4)
R-Axis
0.24kg•m
2
B-Axis
0.17kg•m
2
T-Axis
0.06kg•m
2
Mass 130kg
Ambient
Conditions
Temperature 0° to 45°C
Humidity 20 to 80% RH (no-condensing)
Vibration
Less than 4.9m/s
2
(0.5G)
Others
• Free from corrosive gas or liquid, or explosive
gas
• Free from dust, soot, or water
• Free from excessive electrical noise (plasma)
Power Capacity 1.5kVA