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5
Basic Specifications
5.1
Table 5-1: Basic Specifications
Item
Configuration
Degree of Freedom
Payload
2)
Repeatability
Motion Range
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
S-axis
3)
Speed
L-axis
U-axis
R-axis
B-axis
T-axis
Allowable
R-axis
4)
Moment
B-axis
T-axis
Allowable
R-axis
Inertia
B-axis
2
4)
(GD
/4)
T-axis
Mass
Protective Structure
Ambient
Temperature
Conditions
Humidity
Vibration Acceleration
Others
Power Capacity
5)
Noise
1 SI units are used in this table. However, gravitational unit is used in ( ). SI units are used in this table.
However, gravitational unit is used in ( ).
2 Conforms to ISO9283
3 Depending on the operation position, it may not reach the maximum speed of each axis.
4 Refer to chapter 6 "Allowable Load for Wrist Axis and Wrist Flange" for details on the permissible moment of
inertia.
5 Conformed to ISO6926
1, Measurement is carried out when the maximum load is mounted to the manipulator and
operated in the maximum speed.
2, Measurement is carried out:
-between 1.2m and 1.5m above the ground.
-400mm away from the P-point maximum envelope.
5
Basic Specifications
5.1
Basic Specifications
Basic Specifications
1)
*
Model
MOTOMAN-MH600
YR-MH00600-A00
Vertically Articulated
6
600 kg
±0.3 mm
−
-180°
−
-55°
+61°
−
-113°
−
-360°
−
-115°
−
-360°
1.43 rad/s, 82°/s
1.43 rad/s, 82°/s
1.43 rad/s, 82°/s
1.40 rad/s, 80°/s
1.40 rad/s, 80°/s
2.83 rad/s, 162°/s
3430 N•m (350 kgf•m)
3430 N•m (350 kgf•m)
1764 N•m (180 kgf•m)
•m
520 kg
•m
520 kg
•m
350 kg
3050 kg
Main part of the manipulator: IP30 or equivalent
Wrist axis only: IP67 or equivalent
0 to 45°C
20 to 80% RH (non-condensing)
Less than 4.9 m/s
Free from corrosive gasses or liquids, or explosive gasses
Free from water, oil, or dust
Free from excessive electrical noise (plasma)
7.0 kVA
70 dB
5-1
+180°
+18°
+360°
+115°
+360°
2
2
2
2
(0.5 G)
HW1483270
HW1483270
24/88
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