2.3. Basic Specifications

Table 2‑1 Basic Specifications for Models (YS140D)

Item						Specifications
Model						YS140D
Construction						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		+2.880 ~ -0.524 rad (165°~ -30°)
		V		Up/ downward		+4.014 ~ -2.443 rad(+230°~ -140°)
	Wrist	R2		Rotation 2		±6.283 rad (±360°)
		B		Bending		±2.182 rad (±125°)
		R1		Rotation 1		±6.283 rad (±360°)
Max. Speed	Arm	S		Swivel		2.094 rad/s (120°/s)
		H		For/Backward		2.094 rad/s (120°/s)
		V		Up/ downward		2.094 rad/s (120°/s)
	Wrist	R2		Rotation 2		2.880 rad/s (165°/s)
		B		Bending		2.880 rad/s (165°/s)
		R1		Rotation 1		4.363 rad/s (250°/s)
Load Capacity						140kg
Wrist Torque			R2		Rotation 2	686 N·m (70 kgf·m)
			B		Bending	686 N·m (70 kgf·m)
			R1		Rotation 1	343 N·m (35 kgf·m)
Accuracy of position repeatability						±0.06mm
Ambient Temperature						0 ~ 45℃ (273 ~ 318 K)
Relative humidity						20 ~ 85 %RH
Robot's Weight						562 kg
Vibration						0.5G or less

2.3. Basic Specifications​