2.3. Basic Specifications

2.3. Basic Specifications

 

Table 2‑1 Specifications for Models : [HA006/HA020W/HA010LW]

Item				Specification
Robot Model				HA006	HA020W	HA010LW
Structure				Articulated
Degree of freedom				6
Drive system				AC servo type
Max. Working envelope	Arm	S	Swivel	±3.142 rad (±180°)
		H	Horizontal	+2.62 ~ -1.57rad (+150°~ -90°)	+2.79 ~ -1.75rad(+160°~ -100°)
		V	Vertical	+3.49 ~ -2.79rad (+200°~ -160°)	+4.19 ~ -2.62rad (+240°~ -150°)	+4.189 ~ -2.879 Rad (+240°~ -165°)
	Wrist	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	Arm	S	Swivel	2.967 rad/s (170°/s)		2.618 rad/s (150°/s)
		H	Horizontal	2.967 rad/s (170°/s)	2.793 rad/s (160°/s)	2.444 rad/s (140°/s)
		V	Vertical	2.967 rad/s (170°/s)		2.618 rad/s (150°/s)
	Wrist	R2	Rotation 2	5.847 rad/s (335°/s)		5.237 rad/s (300°/s)
		B	Bending	5.847 rad/s (335°/s)		5.237 rad/s (300°/s)
		R1	Rotation 1	8.727 rad/s (500°/s)	10.472 rad/s (600°/s)	9.077 rad/s (520°/s)
Load Capacity				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				±0.06 mm
Ambient Temperature				0~ 45℃ (273 ~ 318 K)
Relative humidity				20 ~ 85 %RH
Robot's Weight				140 kg	235 kg	235 kg
Working envelope section area				2.71 m²	5.58 m²	7.22 m²