2.3. Basic Specifications
2.3. Basic Specifications
Table 2‑1Specifications for Models
Item | Specification | ||||
Robot Model | HH4 | HH4E | |||
Structure | Articulated | ||||
Degree of freedom | 6 | ||||
Drive system | AC SERVO MOTOR | ||||
Max. Working envelope | Arm | S | Swivel | ±2.967 rad (±170°) | |
H | Horizontal | +2.915 ~ - 0.956rad (+167°~ -55°) | |||
V | Vertical | +3.49 ~ - 1.17rad (+200°~ -67°) | |||
Wrist | R2 | Rotation 2 | ±3.316 rad (±190°) | ||
B | Bending | ±2.182 rad (±125°) | ±2.094 rad (±120°) | ||
R1 | Rotation 1 | ±6.283 rad (±360°) | |||
Maximum speed | Arm | S | Swivel | 8.378 rad/s (480°/s) | |
H | Horizontal | 8.029 rad/s (460°/s) | |||
V | Vertical | 9.075 rad/s (520°/s) | |||
Wrist | R2 | Rotation 2 | 9.599 rad/s (550°/s) | ||
B | Bending | 9.599 rad/s (550°/s) | |||
R1 | Rotation 1 | 17.453 rad/s (1000°/s) | 15.184 rad/s (870°/s) | ||
Load Capacity | 39.2 N (4 kg) | ||||
Wrist torque | R2 | Rotation 2 | 8.8 N·m (0.90 kgf·m) | ||
B | Bending | 8.8 N·m (0.90 kgf·m) | |||
R1 | Rotation 1 | 4.9 N·m (0.50 kgf·m) | |||
Accuracy of position repeatability | ±0.02 mm | ||||
Ambient Temperature | 0 ~ 40 ℃ (273 ~ 313 K) | ||||
Relative humidity | 20 ∼ 85 %RH | ||||
Robot's Weight | 27.5 kg | ||||
Operating range Cross-sectional area | 0.69m² | ||||