2.3.2. General Part

Table 2‑2 Specifications for Models

Item				Specification
Model				YP015A-28*1(Hi5a-P20)	YP015A-22*1(Hi5a-P20)
Structure				Articulated
Degree of freedom				6
Drive system				AC servo type
Max. Working envelope	Arm	S	Swivel	±160°
		H	Horizontal	-50° ~ +210°
		V	Vertical	-70°~ +90°	-65°~ +90°
	Wrist	R2	Rotation 2	±360°
		B	Bending	±360°
		R1	Rotation 1	±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	580kg
Ambient Temperature				0~40℃
Relative humidity				20 ~ 85 %RH
Vibration				0.5G