2.3. Basic specifications
2.3. Basic specifications
Table2‑1 Basic Specification for Each Model
Item | Specification | ||||||
Model name | HS210E | ||||||
Payload | 210kg | ||||||
Structure | Articulated | ||||||
Degree of freedom | 6 (6-axes S, H, V, R2,B, R1) | ||||||
Driving method | AC servo | ||||||
Installation type | To be fixed on the floor (floor mount) | ||||||
Maximum opertion range | Main axis | S | Swivel | ±3.142 rad (±180°), ±3.107 rad (±178°) *) LS Option | |||
H | Horizontal | +0.175 ~ 2.705 rad (+10° ~ 155°) | |||||
V | Vertical | +1.396 ~ -1.309 rad (+80°~ -75°) | |||||
H/V | Interference | +0.262 ~ 2.967 rad (15°~ 170°), | |||||
Wrist axis | R2 | Rotation 2 | ±3.665 rad (±210°) | ||||
B | Bending | ±2.182 rad (±125°) | |||||
R1 | Rotation 1 | ±3.665 rad (±210°) | |||||
Max. speed | Main axis | S | Swivel | 2.094 rad/s (120°/s) | |||
H | Horizontal | 1.833 rad/s (105°/s) | |||||
V | Vertical | 1.920 rad/s (110°/s) | |||||
Wrist axis | R2 | Rotation 2 | 2.269 rad/s (130°/s) | ||||
B | Bending | 2.269 rad/s (130°/s) | |||||
R1 | 1 | 3.578 rad/s (205°/s) | |||||
Payload | 2,059 N.m (210 kg) | ||||||
Wrist torque | R2 | Rotation 2 | 1,334 N.m (136 kgf.m) | ||||
B | Bending | 1,334 N.m (136 kgf.m) | |||||
R1 | Rotation 1 | 706 N.m (72 kgf.m) | |||||
Positional repeatability | ± 0.09 mm | ||||||
Main body weight | 970 kg | ||||||
Installation environment | Ambient temperature | 0 ~ 45℃ (273 ~ 318 K) | |||||
Relative humidity | 20 ~ 85 %RH | ||||||
Vibration | 0.5G or below | ||||||
*) LS Option: Maximum operation angle when a limit switch for limitng the angle is attached.