2.3. Basic Specifications
2.3. Basic Specifications
Table2‑1 Basic Specifications for Models [HH130L/HH150L]
Item | Specifications | |||||
Model | HH130L | HH150L | ||||
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 | +2.181 ~ -1.221 rad (+125° – 70°) | +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 ~ 4.888 rad (+10°~ +280°), 0.297 ~ 4.888 rad (+17°~ +280°) LS Option1 | ||||
Wrist | R2 | Rotation 2 | ±6.284 rad (±360°) | |||
B | Bending | ±2.182 rad (±125°) | ||||
R1 | Rotation 1 | ±6.284 rad (±360°) | ||||
Max. Speed | Arm | S | Swivel | 1.919 rad/s (110°/s) | 2.095 rad/s (120°/s) | |
H | For/Backward | 1.570 rad/s (90°/s) | 2.007 rad/s (115°/s) | |||
V | Up/ downward | 1.919 rad/s (100°/s) | 2.007 rad/s (115°/s) | |||
Wrist | R2 | Rotation 2 | 2.967 rad/s (170°/s) | |||
B | Bending | 2.706 rad/s (155°/s) | ||||
R1 | Rotation 1 | 4.888 rad/s (280°/s) | ||||
Load Capacity | 1,274 N (130 kg) | 1,470 N (150 kg) | ||||
Wrist Torque | R2 | Rotation 2 | 1,250 N·m(127kgf·m) | |||
B | Bending | 1,250 N·m(127kgf·m) | ||||
R1 | Rotation 1 | 730 N·m(74 kgf·m) | ||||
Accuracy of position repeatability | ±0.15 mm | |||||
Robot's Weight | 1,270 kg | 1,380 kg | ||||
Installation Environment | 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.