2.3. Basic Specifications
2.3. Basic Specifications
Table 2‑1 Basic Specifications for Models
Item | Specification | |||
Model | HS165D | |||
Construction | Articulated | |||
Degree of freedom | 6 | |||
Drive system | AC servo system | |||
Max. Working envelope | Arm | S | Swivel | ±3.142 rad (±180°) |
H | For/Backward | +2.09 ~ -1.22 rad (+120°~ -70°) | ||
V | Up/Downward | +2.79~-2.09 rad (+160°~ -120°) | ||
Wrist | R2 | Rotation 2 | ±6.283 rad (±360°) | |
B | Bending | ±2.269 rad (±130°) | ||
R1 | Rotation 1 | ±6.283 rad (±360°) | ||
Max. Speed | Arm | S | Swivel | 1.75 rad/s (100°/s) |
H | For/Backward | 1.57 rad/s (90°/s) | ||
V | Up/Downward | 1.57 rad/s(90°/s) | ||
Wrist | R2 | Rotation 2 | 2.618 rad/s (150°/s) | |
B | Bending | 2.531 rad/s (145°/s) | ||
R1 | Rotation 1 | 3.840 rad/s (220°/s) | ||
Load Capacity | 1,617 N (165 kg) | |||
Wrist Torque | R2 | Rotation 2 | 980 N·m (100 kgf·m) | |
B | Bending | 980 N·m (100 kgf·m) | ||
R1 | Rotation 1 | 490 N·m(50 kgf·m) | ||
Accuracy of position repeatability | ± 0.25 mm | |||
Ambient Temperature | 0 ~ 45℃ (273~318 K) | |||
Relative humidity | 20 ∼ 85 %RH | |||
Robot's Weight | 810 kg | |||
Working envelope section area | 5.65 m² | |||