2.3. Basic Specifications
2.3. Basic Specifications
Table 2‑1 Basic Specifications for Models
Item | Specifications | |||
Model | HS220S | |||
Maximum Payload | 220 kg | |||
Construction | Articulated | |||
Degree of freedom | 6 (6-axes S, H, V, R2,B, R1) | |||
Drive system | AC servo system | |||
Max. Working envelope | Arm | S | Swivel | ±3.142 rad (±180°) ±3.107 rad (±178°) *) LS Option |
H | For/Backward | +2.182 ~ -1.222 rad (+125°~ -70°) | ||
V | Up/ downward | +3.316 ~ -1.396 rad (+190°~ -80°) +3.316 ~ -1.274 rad (+190°~ -73°) *) LS Option | ||
Wrist | R2 | Rotation 2 | 0.175~3.316 rad (10°~ 280°) 0.279~3.316 rad (17°~ 280°) *) LS Option | |
B | Bending | ±6.284 rad (±360°) | ||
R1 | Rotation 1 | ±2.234 rad (±128°) | ||
Max. Speed | Arm | S | Swivel | ±6.284 rad (±360°) |
H | For/Backward | 1.920 rad/s (110°/s) | ||
V | Up/ downward | 1.641 rad/s (94°/s) | ||
Wrist | R2 | Rotation 2 | 1.920 rad/s (110°/s) | |
B | Bending | 2.531 rad/s (145°/s) | ||
R1 | Rotation 1 | 2.531 rad/s (145°/s) | ||
Wrist Torque | R2 | Rotation 2 | 1422 N·m(145kgf·m) | |
B | Bending | 1422 N·m(145kgf·m) | ||
R1 | Rotation 1 | 770 N·m(79 kgf·m) | ||
Accuracy of position repeatability | ±0.15 mm | |||
Robot's Weight | 1,397 kg | |||
Installation Environment | Ambient Temperature | 0 ~ 45℃ (273 ~ 318 K) | ||
Relative humidity | 20 ~ 85 %RH | |||
Vibration | 0.5G or less | |||
*) LS Option: Max movable angle when attaching a limit switch to limit the angle