2.3. Basic Specifications
2.3. Basic Specifications
Table 2‑1Specifications for Models
Item | Specification | |||||
Robot Model | HH020T | HH020 | HH010L | |||
Structure | Articulated | |||||
Degree of freedom | 6 | |||||
Drive system | AC servo type | |||||
Max. Working envelope | Arm | S | Swivel | ±3.23 rad(±185°) | ||
H | Horizontal | +3.40rad ~ -1.22rad(+195°~ -70°) | ||||
V | Vertical | +3.14rad ~ -1.97rad(+180°~ -80°) | ||||
Wrist | R2 | Rotation 2 | - | ±3.403 rad (±195°) | ||
B | Bending | ±2.356 rad (±135°) | ||||
R1 | Rotation 1 | ±6.283 rad (±360°) | ||||
Maximum speed | Arm | S | Swivel | 3.32rad/s (190°/s) | ||
H | Horizontal | 3.14rad/s (180°/s) | ||||
V | Vertical | 3.32rad/s (190°/s) | ||||
Wrist | R2 | Rotation 2 | - | 6.63rad/s (380°/s) | ||
B | Bending | 6.63rad/s (380°/s) | ||||
R1 | Rotation 1 | 10.47rad/s (600°/s) | ||||
Load Capacity | 196 N (20 kg) | 98 N (10kg) | ||||
Wrist torque | R2 | Rotation 2 | - | 39.2N·m(4kgf·m) | 24.5 N·m (2.5 kgf·m) | |
B | Bending | 39.2 N·m (4 kgf·m) | 24.5 N·m (2.5 kgf·m) | |||
R1 | Rotation 1 | 19.6 N·m (2 kgf·m) | 10.5 N·m(1.1 kgf·m) | |||
Accuracy of position repeatability | ±0.08 mm | ±0.08 mm | ||||
Ambient Temperature | 0 ~ 45℃ (273 ~ 318 K) | |||||
Relative humidity | 20 ~ 85 %RH | |||||
Robot's Weight | 221 kg | 225 kg | 230 kg | |||
Working envelope section area | 6.07 m² | 7.88 m² | ||||