2.3. Basic Specifications
2.3. Basic Specifications
Table 2‑1Specifications for Models
Item | Specification | ||||||
Robot Model | HH4L | HH7 | HH7E | HH8 | |||
Structure | Articulated | ||||||
Degree of freedom | 6 | ||||||
Drive system | AC SERVO MOTOR | ||||||
Max. Working envelope | Arm | S | Swivel | ±2.967 rad (±170°) | |||
H | Horizontal | +3.14 ~ -0.96 rad (+180°~ -55°) | +3.71 ~ -1.22rad (+213°~ -70°) | ||||
V | Vertical | +3.71 ~ - 1.22rad (+213°~ -70°) | |||||
Wrist | R2 | Rotation 2 | ±3.316 rad (±190°) | ||||
B | Bending | ±2.356 rad (±135°) | ±2.094 rad (±120°) | ±2.356 rad (±135°) | |||
R1 | Rotation 1 | ±6.283 rad (±360°) | |||||
Maximum speed | Arm | S | Swivel | 5.235 rad/s (300°/s) | 6.544 rad/s | 7.941 rad/s (455°/s) | |
H | Horizontal | 4.014 rad/s (230°/s) | 5.497 rad/s | 6.719 rad/s (385°/s) | |||
V | Vertical | 6.283rad/s (360°/s) | 7.155rad/s | 9.075rad/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 | 13.613 rad/s (780°/s) | 17.453 rad/s (1000°/s) | |||
Load Capacity | 39.2 N (4 kg) | 68.6 N (7 kg) | 78.4 N (8 kg) | ||||
Wrist torque | R2 | Rotation 2 | 17 N·m (1.73 kgf·m) | ||||
B | Bending | 17 N·m (1.73 kgf·m) | |||||
R1 | Rotation 1 | 10 N·m (1.02 kgf·m) | |||||
Accuracy of position repeatability | ±0.03 mm | ±0.02 mm | |||||
Ambient Temperature | 0 ~ 40 ℃ (273 ~ 313 K) | ||||||
Relative humidity | 20 ∼ 85 %RH | ||||||
Robot's Weight | 43kg | 42kg | 43kg | 41kg | |||
Operating range Cross-sectional area | 3.45m² | 1.98m² | 1.46m² | ||||