2.3. Basic Specifications
2.3. Basic Specifications
Table 2‑1 Basic Specifications for Models
Item | Specification | |||
Construction | Articulated | |||
Degree of freedom | 5 | |||
Drive system | AC servo system | |||
Max. Working envelope | Arm | J1 | Swivel | ±0.524rad (±30°) |
J2 | For/Backward | +2.09 ~ -0.61 rad (+120°~ -35°) | ||
Wrist | J3 | Rotation 2 | ±6.283 rad (±360°) | |
J4 | Bending | ±2.269 rad (±130°) | ||
J5 | Rotation 1 | ±6.283 rad (±360°) | ||
Max. Speed | Arm | J1 | Swivel | 1.75 rad/s (100°/s) |
J2 | For/Backward | 1.57 rad/s (95°/s) | ||
Wrist | J3 | Rotation 2 | 2.618 rad/s (150°/s) | |
J4 | Bending | 2.443 rad/s (140°/s) | ||
J5 | Rotation 1 | 3.142 rad/s (180°/s) | ||
Load Capacity | 1,617 N (165 kg) | |||
Wrist Torque | J3 | Rotation 2 | 980 N·m (100 kgf·m) | |
J4 | Bending | 980 N·m (100 kgf·m) | ||
J5 | Rotation 1 | 490 N·m(50 kgf·m) | ||
Accuracy of position repeatability | ± 0.3 mm | |||
Ambient Temperature | 0~ 45℃ (273~318K) | |||
Relative humidity | 20 ∼ 85 %RH | |||
Robot's Weight | 510 kg | |||