2.3.2. General Part

Table 2‑2 Specifications for Models

Item						Specification
Structure						Articulated
Degree of freedom						6
Drive system						AC servo type
Max. Working envelope	Arm	S		Swivel		±2.793rad (±160°)
		H		Horizontal		+4.014rad~ -0.873rad (+230°~ -50°)
		V		Vertical		+1.571rad ~ -1.222rad (+90°~ -70°)
		H/V		Interference		+0.349rad ~ +5.585rad (+20°~ +320°)
	Wrist	R2		Rotation 2		±6.283 rad (±360°)
		B		Bending		±6.283 rad (±360°)
		R1		Rotation 1		±6.283 rad (±360°)
Maximum speed	Arm	S		Swivel		2.793rad/s (160°/s)
		H		Horizontal		2.793 rad/s (160°/s)
		V		Vertical		2.793 rad/s (160°/s)
	Wrist	R2		Rotation 2		7.854 rad/s (450°/s)
		B		Bending		9.425 rad/s (540°/s)
		R1		Rotation 1		10.472 rad/s (600°/s)
Load Capacity						147.1 N (15kg) (each of J1, J2, J3)
Wrist torque			R2		Rotation 2	65.7 N·m (6.7 kgf·m)
			B		Bending	52.0 N·m (5.3 kgf·m)
			R1		Rotation 1	44.1 N·m (4.5 kgf·m)
Accuracy of position repeatability						±0.2 mm
Robot's Weight						600kg
Ambient Temperature						0~40℃ (273 ~ 318 K)
Relative humidity						20 ~ 85 %RH
Vibration						0.5G