2.3. Basic Specifications

Table 2‑1 Basic Specifications for Models: [YS080L/YS140]

Item				Specification
Robot Model				YS080L		YS140
Structure				Articulated
Degree of freedom				6 (6-axes S, H, V, R2, B, R1)
Drive system				AC servo system
Installation Type				Floor Mount
Max. Working envelope	Arm	S	Swivel	±3.142 rad (±180°)
		H	For/Backward	+3.142 ~ -1.047 rad (+180°~ -60°)
		V	Up/ downward	+4.014 ~ -2.356 rad (+230°~ -135°)	+4.014 ~ -2.618 rad (+230°~ -150°)
	Wrist	R2	Rotation 2	±6.284 rad (±360°)
		B	Bending	±2.182 rad (±125°)
		R1	Rotation 1	±6.284 rad (±360°)
Max. Speed	Arm	S	Swivel	2.443 rad/s (140°/s)
		H	For/Backward	1.920 rad/s (110°/s)
		V	Up/ downward	2.094 rad/s (120°/s)
	Wrist	R2	Rotation 2	4.014 rad/s (230°/s)		2.880 rad/s (165°/s)
		B	Bending	4.014 rad/s (230°/s)		2.880 rad/s (165°/s)
		R1	Rotation 1	6.109 rad/s (350°/s)		4.363 rad/s (250°/s)
Load Capacity				784 N (80 kg)		1372 N (140 kg)
Wrist Torque		R2	Rotation 2	400 N·m (40.8 kgf·m)		686 N·m (70 kgf·m)
		B	Bending	400 N·m (40.8 kgf·m)		686 N·m (70 kgf·m)
		R1	Rotation 1	200 N·m (20.4 kgf·m)		343 N·m (35 kgf·m)
Accuracy of position repeatability				±0.1 mm		±0.17 mm
Ambient Temperature				0 ~ 45℃ (273 ~ 318 K)
Relative humidity				20 ~ 85 %RH
Robot's Weight				684 kg		670 kg
Vibration				0.5G or less

2.3. Basic Specifications​