2.3. Basic Specifications
2.3. Basic Specifications
Table 2‑1 Specifications for Models : [HA006/HA020/HA010L]
Item | Specification | |||||
Robot Model | HA006 | HA020 | HA010L | |||
Structure | Joint type | |||||
Degree of freedom | 6 | |||||
Drive system | AC servo type | |||||
Maximum operating range | Base axis | S | Swivel | ±3.142 rad (±180°) | ||
H | Horizontal | +2.62 ~ -1.57 rad (+150°~ -90°) | +2.62 ~ -1.927 rad (+150°~ -110°) | |||
V | Vertical | +3.49 ~ -2.79 rad (+200°~ -160°) | +4.36 ~ -2.70 rad (+250°~ -155°) | +4.189 ~ -2.879 Rad (+240°~ -165°) | ||
Wrist axis | R2 | Rotation 2 | ±3.142 rad (±180°) | ±3.404 rad (±195°) | ||
B | Bending | ±2.356 rad (±135°) | ||||
R1 | Rotation 1 | ±6.283 rad (±360°) | ||||
Maximum speed | Base axis | S | Swivel | 2.967 rad/s (170°/s) | ||
H | Horizontal | 2.967 rad/s (170°/s) | 2.793 rad/s (160°/s) | 2.880 rad/s (165°/s) | ||
V | Vertical | 2.967 rad/s (170°/s) | ||||
Wrist axis | R2 | Rotation 2 | 5.847 rad/s (335°/s) | |||
B | Bending | 5.847 rad/s (335°/s) | ||||
R1 | Rotation 1 | 8.727 rad/s (500°/s) | 10.472 rad/s (600°/s) | |||
Base mass | 59 N (6 kg) | 196 N (20 kg) | 98 N (10 kg) | |||
Wrist torque | R2 | Rotation 2 | 11.8 N·m (1.2 kgf·m) | 39.2 N·m (4 kgf·m) | 24.5 N·m (2.5 kgf·m) | |
B | Bending | 11.8 N·m (1.2 kgf·m) | 39.2 N·m (4 kgf·m) | 24.5 N·m (2.5 kgf·m) | ||
R1 | Rotation 1 | 5.9 N·m (0.6 kgf·m) | 19.6 N·m (2 kgf·m) | 10.5 N·m (1.1 kgf·m) | ||
Accuracy of position repeatability | ±0.08 mm | ±0.1 mm | ||||
Ambient temperature and humidity | 0~ 45℃ (273 ~ 318 K) | |||||
Relative humidity | 20 ~ 85 %RH | |||||
Robot's Weight | 150 kg | 240 kg | 260 kg | |||
Working envelope section area | 2.71 m² | 5.58 m² | 7.22 m² | |||