2.3. Basic Specifications

2.3. Basic Specifications

 

Table 2‑1 Basic Specifications by Model

Item							Specifications
Model							HS160L	HS180	HS220
Payload							160 kg	180 kg	220 kg
Structure							Multi-joint type
Degree of freedom							6 (6-axes S, H, V, R2,B, R1)
Driving method							AC servo
Installation type							Floor mounting
Maximum operation range	Main axes		S		Swivel		±3.142 rad (±180°), ±3.107 rad (±178°) *) LS Option
			H		Forward and backward		+2.705 ~ 0.175 rad (+155°~ +10°)
			V		Upward and downward		+3.316 ~ -1.396 rad (+190°~ -80°) +3.316 ~ -1.274 rad (+190°~ -73°) LS Option1
			H/V		Interference		0.175~3.316 rad (10°~ 280°), 0.279~3.316 rad (17°~ 280°) LS Option1
	Wrist axes		R2		Rotation 2		±6.284 rad (±360°)
			B		Bending		±2.234 rad (±128°)
			R1		Rotation 1		±6.284 rad (±360°)
Maximum speed	Main axes		S		Swivel		2.094 rad/s (120°/s)		2.094 rad/s (120°/s)
			H		Forward and backward		2.007 rad/s (115°/s)		1,833 rad/s (105°/s)
			V		Upward and downward		2.007 rad/s (115°/s)	2.182 rad/s (125°/s)	1.920 rad/s (110°/s)
	Wrist axes		R2		Rotation 2		3.037 rad/s (174°/s)	3.229 rad/s (185°/s)	2.531 rad/s (145°/s)
			B		Bending		3.002 rad/s (172°/s)	3.054 rad/s (175°/s)	2.531 rad/s (145°/s)
			R1		Rotation 1		4.538 rad/s (260°/s)	4.625 rad/s (265°/s)	3.840 rad/s (220°/s)
Payload							1568 N (160 kg)	1764 N (180 kg)	2156 N (220 kg)
Wrist torque				R2		Rotation 2	1079 N·m (110 kgf·m)		1422 N·m(145kgf·m)
				B		Bending	1079 N·m (110 kgf·m)		1422 N·m(145kgf·m)
				R1		Rotation 1	566 N·m (58 kgf·m)		770 N·m(79 kgf·m)
Position repeatability accuracy							±0.15 mm	±0.11 mm
Manipulator weight							985 kg	955 kg
Installation environment		Ambient temperature					0 ~ 45℃ (273 ~ 318 K)
		Relative humidity					20 ~ 85 %RH
		Vibration					0.5 G or below

*) LS Option: The maximum operation angle when the limit switch to restrict the angle is attached.