2.3. Basic Specifications
2.3. Basic Specifications
Table 2‑1 Basic Specifications for Models [HH020L]
Item | Specification | |||
Model | HH020L | |||
Construction | Articulated | |||
Degree of freedom | 6 | |||
Drive system | AC servo system | |||
Max. Working envelope | Arm | S | Swivel | ±3.141 rad (±180°) |
H | For/Backward | +3.141 ~ -1.134 rad (+180°~ -65°) | ||
V | Up/ downward | +4.538 ~ -2.792 rad (+260°~ -160°) | ||
Wrist | R2 | Rotation 2 | ±3.403 rad (±195°) | |
B | Bending | ±2.356 rad (±135°) | ||
R1 | Rotation 1 | ±6.283 rad (±360°) | ||
Max. Speed | Arm | S | Swivel | 3.054 rad/s (175°/s) |
H | For/Backward | 3.054 rad/s (175°/s) | ||
V | Up/ downward | 3.141 rad/s (180°/s) | ||
Wrist | R2 | Rotation 2 | 6.283 rad/s (360°/s) | |
B | Bending | 6.632 rad/s (380°/s) | ||
R1 | Rotation 1 | 10.472 rad/s (600°/s) | ||
Load Capacity | 196 N (20kg) | |||
Wrist Torque | R2 | Rotation 2 | 39.2 N·m (4 kgf·m) | |
B | Bending | 39.2 N·m (4 kgf·m) | ||
R1 | Rotation 1 | 19.6 N·m (2 kgf·m) | ||
Accuracy of position repeatability | ±0.08 mm | |||
Ambient Temperature | 0 ~ 45℃ (273 ~ 318 K) | |||
Relative humidity | 20 ~ 85 %RH | |||
Robot's Weight | 535 kg | |||
Working envelope section area | 19.39m | |||