2.3. Basic Specifications
2.3. Basic Specifications
Table 2‑1Specifications for Models
Item | Specification | |||
Robot Model | HA006E | |||
Structure | Articulated | |||
Degree of freedom | 6 | |||
Drive system | AC servo type | |||
Max. Working envelope | Arm | S | Swivel | ±3.00rad(±172°) |
H | Horizontal | +3.14rad~ -1.36rad (+180°~ -78°) | ||
V | Vertical | +3.14rad ~ -1.43rad (+180°~ -82°) | ||
Wrist | R2 | Rotation 2 | ±3.14 rad (±180°) | |
B | Bending | ±2.356 rad (±135°) | ||
R1 | Rotation 1 | ±6.283 rad (±360°) | ||
Maximum speed | Arm | S | Swivel | 4.01rad/s (230°/s) |
H | Horizontal | 4.01rad/s (230°/s) | ||
V | Vertical | 4.01rad/s (230°/s) | ||
Wrist | R2 | Rotation 2 | 7.50rad/s (430°/s) | |
B | Bending | 7.50rad/s (430°/s) | ||
R1 | Rotation 1 | 11.17rad/s (640°/s) | ||
Load Capacity | 58.8 N (6kg) | |||
Wrist torque | R2 | Rotation 2 | 11.8N·m (1.2kgf·m) | |
B | Bending | 9.8N·m (1.0kgf·m) | ||
R1 | Rotation 1 | 5.9N·m (0.6kgf·m) | ||
Accuracy of position repeatability | ±0.05 mm | |||
Ambient Temperature | 0~45℃ (273 ~ 318 K) | |||
Relative humidity | 20 ~ 85 %RH | |||
Robot's Weight | 160kg | |||
Working envelope section area | 3.46 m² | |||