2.3. Basic Specifications
2.3. Basic Specifications
Table 2‑1 Basic Specifications for Models: [HH130L/HH200]
Item | Specification | ||||
Model | HH130L | HH200 | |||
Construction | Articulated | ||||
Degree of freedom | 6 | ||||
Drive system | AC servo system | ||||
Max. Working envelope | Arm | S | Swivel | ±3.142 rad (±180°) | |
H | For/Backward | +1.396 ~ -1.134 rad (+80°~ -65°) | |||
V | Up/ downward | +4.014 ~ -3.356 rad (+230°~ -135°) | |||
Wrist | R2 | Rotation 2 | ±6.283 rad (±360°) | ||
B | Bending | ±2.182 rad (±125°) | |||
R1 | Rotation 1 | ±6.283 rad (±360°) | |||
Max. Speed | Arm | S | Swivel | 1.833 rad/s (105°/s) | 1.658 rad/s (95°/s) |
H | For/Backward | 1.484 rad/s (85°/s) | 1.484 rad/s (85°/s) | ||
V | Up/ downward | 1.658 rad／s (95°／s) | 1.658 rad/s (95°/s) | ||
Wrist | R2 | Rotation 2 | 2.967 rad/s (170°/s) | 2.356 rad/s (135°/s) | |
B | Bending | 2.705 rad/s (155°/s) | 2.094 rad/s (120°/s) | ||
R1 | Rotation 1 | 4.712 rad/s (270°/s) | 3.316 rad/s (190°/s) | ||
Load Capacity | 1,274 N (130 kg) | 1,962 N (200 kg) | |||
Wrist Torque | R2 | Rotation 2 | 1,030 N·m (105 kgf·m) | 1,333 N·m (136 kgf·m) | |
B | Bending | 1,030 N·m (105 kgf·m) | 1,333 N·m (136 kgf·m) | ||
R1 | Rotation 1 | 490 N·m (50 kgf·m) | 706 N·m (72 kgf·m) | ||
Accuracy of position repeatability | ±0.25 mm | ||||
Ambient Temperature | 0 ~ 45℃ (273 ~ 318 K) | ||||
Relative humidity | 20 ~ 85 %RH | ||||
Robot's Weight | 1,300 kg | 1,270 kg | |||
Vibration | 0.5G or less | 0.5G or less | |||