Basic Specifications - YASKAWA MOTOMAN-MH5 Instructions Manual

MH5
5

Basic Specifications

5.1
Table 5-1: Basic Specifications
Item
Application
Structure
Degree of freedom
Payload
2)
Repeatability
Range of Motion S-Axis (turning)
L-Axis (lower arm)
U-Axis (upper arm)
R-Axis (wrist roll)
B-Axis (wrist pitch/yaw)
T-Axis (wrist twist)
Maximum Speed S-Axis
L-Axis
U-Axis
R-Axis
B-Axis
T-Axis
4)
Allowable Moment R-Axis
B-Axis
T-Axis
2
Allowable Inertia (GD 4) R-Axis
B-Axis
T-Axis
Approx. Mass
Ambient Conditions Temperature
Humidity
Vibration
Others
Power Capacity
1 SI units are used in this table. However, gravitational unit is used in ( )
2 Conformed to ISO9283
3 Each L-, U- and R-axes has the limit of motion depending on the postures.
4 Refer to Fig. 6-1 "Moment Arm Rating" for details on the permissible moment of inertia.
5 Basic Specifications
5.1 Basic Specifications
Basic Specifications
1)
Model MOTOMAN-MH5
Handling
Vertically Articulated
6
5 kg
±0.02 mm
±170°
+150°, -65°
+255°, -136°
±190°
±125°
±360°
6.56 rad/s, 376° /s
6.11 rad/s, 350° /s
6.98 rad/s, 400° /s
7.85 rad/s, 450° /s
7.85 rad/s, 450° /s
12.57 rad/s, 720° /s
12 N•m (1.22 kgf•m)
12 N•m (1.22 kgf•m)
7 N•m (0.71 kgf•m)
0.30 kg•m
0.30 kg•m
0.10 kg•m
27 kg
0 to 45°C
20 to 80% RH (non-condensing)
4.9 m/s
Free from corrosive gas or liquid, or explosive gas
Free from dust, soot, or water
Free from excessive electrical noise (plasma)
1 kVA
5-1
3)
3)
3)
2
2
2
(0.5G) or less
2
HW0485750
171469-1CD
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