YASKAWA MOTOMAN-MS165 - 5 Basic Specifications

5-1
167109-1CD
HW1482308
5 Basic Specifications
5.1 Basic Specifications
MS165
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-MS165
Flange for Cable Processing
2)
2 Specification changes when the manipulator is equipped with a flange for cable processing.
(Refer to fig. 5-3 “Dimensions and P-Point Maximum Envelope” .)
Not Equipped Equipped
Application Spot Welding
Structure Vertically Articulated
Degree of Freedom 6
Payload 180 kg 165 kg
Repeatability
3)
3 Conformed to ISO9283
±0.2 mm
Range of Motion S-Axis (turning) -180° - +180°
L-Axis (lower arm) -60° - +76°
U-Axis (upper arm) -147° - +90°
R-Axis (wrist roll) -360° - +360° -210° - +210°
B-Axis (wrist pitch/yaw) -130° - +130° -125° - +125°
T-Axis (wrist twist) -360° - +360° -210° - +210°
Maximum Speed S-Axis 2.18 rad/s, 125°/s
L-Axis 2.01 rad/s, 115°/s
U-Axis 2.18 rad/s, 125°/s
R-Axis 3.18 rad/s, 182°/s
B-Axis 3.05 rad/s, 175°/s
T-Axis 4.63 rad/s, 265°/s
Allowable Moment
4)
4 Refer to table chapter 6.1 “Allowable Wrist Load” for details on the permissible moment of inertia.
R-Axis 1000 N•m (102 kgf•m) 951 N•m (97 kgf•m)
B-Axis 1000 N•m (102 kgf•m) 951 N•m (97 kgf•m)
T-Axis 618 N•m (63 kgf•m)
Allowable Inertia
(GD
2
/4)
R-Axis 90 kg•m
2
88 kg•m
2
B-Axis 90 kg•m
2
88 kg•m
2
T-Axis 46.3 kg•m
2
Approx. Mass 970 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 gasses or liquids, or explosive gasses
Free from exposure to water, oil, or dust
Free from excessive electrical noise (plasma)
Power Requirements 5.0 kVA
Noise
5)
5 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 1.2m and 1.5m above the ground.
-400mm away from the P-point maximum envelope.
76 dB
30 of 100