2.3. Basic Specifications

2.3. Basic Specifications

 

Table 2‑1 Basic Specifications for Models

Item							Specifications
Model							HC165L	HC200
Maximum Payload							165kg	200kg
Construction							Articulated
Degree of freedom							6 (6-axes S, H, V, R2,B, R1)
Drive system							AC servo system
Installation Type							Floor mount
Max. Working envelope	Arm		S		Swivel		±3.142 rad (±180°), ±3.107 rad (±178°) LS Option *)
			H		For/Backward		+2.705 ~ 0.175 rad (+155°~ +10°)
			V		Up/ downward		+3.316 ~ -1.396 rad (+190°~ -80°) +3.316 ~ -1.274 rad (+190°~ -73°) LS Option1
			H/V		Interference		0.175~3.316 rad (10°~ 280°), 0.279~3.316 rad (17°~ 280°) LS Option1
	Wrist		R2		Rotation 2		±6.284 rad (±360°)
			B		Bending		±2.234 rad (±128°)
			R1		Rotation 1		±6.284 rad (±360°)
Max. Speed	Arm		S		Swivel		1.833 rad/s (105°/s)	1.745 rad/s (100°/s)
			H		For/Backward		1.658 rad/s (95°/s)	1.571 rad/s (90°/s)
			V		Up/ downward		1.920 rad/s (110°/s)	1.833 rad/s (105°/s)
	Wrist		R2		Rotation 2		3.054 rad/s (175°/s)	2.705 rad/s (155°/s)
			B		Bending		3.504 rad/s (175°/s)	2.705 rad/s (155°/s)
			R1		Rotation 1		4.712 rad/s (270°/s)	4.189 rad/s (240°/s)
Load Capacity							1,617 N (165 kg)	1,960 N (200 kg)
Wrist Torque				R2		Rotation 2	1,030 N·m (105 kgf·m)	1,422 N·m(145 kgf·m)
				B		Bending	1,030 N·m (105 kgf·m)	1,422 N·m(145 kgf·m)
				R1		Rotation 1	490 N·m (50 kgf·m)	770 N·m(79 kgf·m)
Accuracy of position repeatability							±0.3 mm
Robot's Weight							1,250 kg	1,220 kg
Installation Environment		Clean Class					ISO 14644-A Class 6
		Ambient Temperature					0 ~ 45℃ (273 ~ 318 K)
		Relative humidity					20 ~ 85 %RH
		Vibration					0.5G or less

*) LS Option: Max movable angle when attaching a limit switch to limit the angle.