2.3. Basic Specifications
2.3. Basic Specifications
Table 2‑1 Specifications for Models
Item | Specification | |||
Robot Model | HH007C-09 | |||
Structure | Articulated | |||
Degree of freedom | 6 | |||
Drive system | AC servo type | |||
Maximum operating area | 905 mm | |||
Max. Working envelope | Arm | S | Swivel | ±2.967 rad (±170°) |
H | Horizontal | +2.967 ~ -0.785 rad (+170°～-45°) | ||
V | Vertical | +3.316 ~ -1.134 rad (+190～-65°) | ||
Wrist | R2 | Rotation 2 | ±3.316 rad (±190°) | |
B | Bending | ±2.094 rad (±120°) | ||
R1 | Rotation 1 | ±6.283 rad (±360°) | ||
Maximum speed | Arm | S | Swivel | 5.76 rad/s (330°/s) |
H | Horizontal | 5.06 rad/s (290°/s) | ||
V | Vertical | 7.16 rad/s (410°/s) | ||
Wrist | R2 | Rotation 2 | 8.48 rad/s (486°/s) | |
B | Bending | 9.60 rad/s (550°/s) | ||
R1 | Rotation 1 | 14.50 rad/s (970°/s) | ||
Load Capacity | 68.6 N (7kg) | |||
Wrist torque | R2 | Rotation 2 | 16.6 N·m (1.69 kgf·m) | |
B | Bending | |||
R1 | Rotation 1 | 9.4 N·m (0.96 kgf·m) | ||
Accuracy of position repeatability | ±0.03 mm | |||
Ambient Temperature | 0~45℃ (273 ~ 318 K) | |||
Relative humidity | 20 ~ 85 %RH | |||
Robot's Weight | 42.5 kg | |||