2.3. Basic Specifications

2.3. Basic Specifications

 

Table 2‑1 Basic Specifications for Models: [HR050/HR030L]

Item				Specification
Model				HR050	HR030L
Construction				Articulated
Degree of freedom				6
Drive system				AC servo system
Max. Working envelope	Arm	S	Swivel	±3.142 rad (±180°)
		H	For/Backward	+2.62 ~ -1.34 rad (+150°~ -77°)
		V	Up/ downward	+2.34 ~ -2.36 rad (+134°~ -135°)
	Wrist	R2	Rotation 2	±6.283 rad (±360°)
		B	Bending	±2.217 rad (±127°)
		R1	Rotation 1	±6.283 rad (±360°)
Max. Speed	Arm	S	Swivel	2.618 rad/s (150°/s)	2.443 rad/s (140°/s)
		H	For/Backward	2.967 rad/s (170°/s)	2.618 rad/s (150°/s)
		V	Up/ downward	2.967 rad/s (170°/s)	2.618 rad/s (150°/s)
	Wrist	R2	Rotation 2	4.363 rad/s (250°/s)	3.662 rad/s (210°/s)
		B	Bending	4.363 rad/s (250°/s)	3.662 rad/s (210°/s)
		R1	Rotation 1	6.109 rad/s (350°/s)	5.236 rad/s (300°/s)
Load Capacity				490 N (50 kg)	294 N (30 kg)
Wrist Torque		R2	Rotation 2	177 N·m (18 kgf·m)	117.6 N·m (12 kgf·m)
		B	Bending	177 N·m (18 kgf·m)	117.6 N·m (12 kgf·m)
		R1	Rotation 1	88 N·m (9 kgf·m)	58.8 N·m (6 kgf·m)
Accuracy of position repeatability				±0.15 mm
Ambient Temperature				0 ~ 45℃ (273 ~ 318 K)
Relative humidity				20 ~ 85 %RH
Robot's Weight				650 kg	670 kg
Working envelope section area				4.94 m²	6.82 m²