YASKAWA ms80w - Basic Specifications

5-1
159328-1CD
HW1480497
MS80W Manipulator
5 Basic Specifications
5.1 Basic Specifications
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-MS80W
Structure Vertically Articulated
Degree of Freedom 6
Payload 80 kg
Repeatability
2)
2 Conformed to ISO09283
±0.07 mm
Range of Motion
3)
3 For the limit switch specification (type: MS0080W-A01), the range of motion is limited with switch before
shipment.
S-Axis (turning) -180180
L-Axis (lower arm) -90 155
U-Axis (upper arm) -185160
R-Axis (wrist roll) -360160
B-Axis (wrist pitch/yaw) -125125
T- Axis (wrist twist) -360360
Maximum Speed S-Axis 2.97 rad/s, 170/s
L-Axis 2.44 rad/s, 140/s
U-Axis 2.79 rad/s, 160/s
R-Axis 4.01 rad/s, 230/s
B-Axis 4.01 rad/s, 230/s
T-Axis 6.11 rad/s, 350/s
Allowable Moment
4)
4 Refer to Fig. 6-1 Allowable Wrist Load on page 6-1 for details on the permissible moment of inertia.
R-Axis 392 N•m (40 kgf•m)
B-Axis 392 N•m (40 kgf•m)
T-Axis 196 N•m (20 kgf•m)
Allowable Inertia (GD
2
/4) R-Axis 28 kg•m
2
B-Axis 28 kg•m
2
T-Axis 11 kg•m
2
Approx. Mass 580 kg
Ambient
Conditions
Temperature 0C to 45C
Humidity 20 to 80% RH at constant temperature
Vibration Acceleration Less than 4.9 m/s
2
(0.5 G)
Others Free from corrosive gas or liquid, or explosive gas.
Free from water, oil, or dust.
Free from excessive electrical noise (plasma).
Power Requirements 4.0 kVA
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