YASKAWA Motoman UP6 - 5 Basic Specifications; 5.1 Basic Specifications

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 permissible moment of inertia.
Table. 2 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) +190
°
, -170
°
R-Axis (wrist roll) ±180
°
B-Axis (wrist pitch/yaw) +225
°
, -45
°
T-Axis (wrist twist) ±360
°
Maximum
Speed
S-Axis 2.44 rad/s, 140
°
/s
L-Axis 2.79 rad/s, 160
°
/s
U-Axis 2.97 rad/s, 170
°
/s
R-Axis 5.85 rad/s, 335
°
/s
B-Axis 5.85 rad/s, 335
°
/s
T-Axis 8.73 rad/s, 500
°
/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 45C
°
Humidity 20 to 80% RH (non-condensing)
Vibration Less than 0.5G
Others
• Free from corrosive gasses or liquids, or
explosive gasses
• Clean and dry
• Free from excessive electrical noise (plasma)
Power Capacity 1.5kVA