5 Basic Specifications
5.1 Basic Specifications
5-1
171469-1CD
HW0485750
MH5
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-MH5
Application Handling
Structure Vertically Articulated
Degree of freedom 6
Payload 5 kg
Repeatability
2)
2 Conformed to ISO9283
±0.02 mm
Range of Motion S-Axis (turning) ±170°
L-Axis (lower arm) +150°, -65°
3)
3 Each L-, U- and R-axes has the limit of motion depending on the postures.
U-Axis (upper arm) +255°, -136°
3)
R-Axis (wrist roll) ±190°
3)
B-Axis (wrist pitch/yaw) ±125°
T-Axis (wrist twist) ±360°
Maximum Speed S-Axis 6.56 rad/s, 376° /s
L-Axis 6.11 rad/s, 350° /s
U-Axis 6.98 rad/s, 400° /s
R-Axis 7.85 rad/s, 450° /s
B-Axis 7.85 rad/s, 450° /s
T-Axis 12.57 rad/s, 720° /s
Allowable Moment
4)
4 Refer to Fig. 6-1 “Moment Arm Rating” for details on the permissible moment of inertia.
R-Axis 12 N•m (1.22 kgf•m)
B-Axis 12 N•m (1.22 kgf•m)
T-Axis 7 N•m (0.71 kgf•m)
Allowable Inertia (GD
2
4) R-Axis 0.30 kg•m
2
B-Axis 0.30 kg•m
2
T-Axis 0.10 kg•m
2
Approx. Mass 27 kg
Ambient Conditions Temperature 0 to 45°C
Humidity 20 to 80% RH (non-condensing)
Vibration 4.9 m/s
2
(0.5G) or less
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 kVA
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