Basic Specifications - YASKAWA MOTOMAN-MH215 II Instructions Manual

MH215
II
5

Basic Specifications

5.1
Table 5-1: Basic Specifications
Item
Structure
Degree of Freedom
Payload
2)
Repeatability
Range of Motion
Maximum Speed
3)
Allowable Moment
Allowable Inertia
2
(GD /4)
Approx. Mass
Protective Structure
Ambient Conditions
Power Requirements
4)
Noise
1 SI units are used in this table. However, gravitational unit is used in ( ).
2 Conformed to ISO9283
3 Refer to section 6.1 "Allowable Wrist Load" for details on the permissible moment of inertia.
4 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 1.2 m and 1.5 m above the ground.
• 400 mm away from the P-point maximum envelope.
5 Basic Specifications
5.1 Basic Specifications
Basic Specifications
1)
Model
S-Axis (turning)
L-Axis (lower arm)
U-Axis (upper arm)
R-Axis (wrist roll)
B-Axis (wrist pitch/yaw)
T-Axis (wrist twist)
S-Axis
L-Axis
U-Axis
R-Axis
B-Axis
T-Axis
R-Axis
B-Axis
T-Axis
R-Axis
B-Axis
T-Axis
Temperature
Humidity
Vibration Acceleration
Others
5-1
MOTOMAN-MH215
Vertically Articulated
6
215kg
±0.2 mm
-180° - +180°
-60° - +76°
-142.5° - +230°
-360° - +360°
-125° - +125°
-360° - +360°
1.75 rad/s, 100°/s
1.57 rad/s, 90°/s
1.69 rad/s, 97°/s
2.09 rad/s, 120°/s
2.09 rad/s, 120°/s
3.32 rad/s, 190°/s
1176 N•m (120 kgf•m)
1176 N•m (120kgf•m)
710 N•m (72 kgf•m)
317 kg•m
317 kg•m
200 kg•m
1140 kg
Basic axis: IP54 or equivalent
Wrist axis only: IP67 or equivalent
0° C to 45° C
20 to 80% RH (non-condensing)
2
4.9 m/s or less (0.5 G)
Free from corrosive gas or liquid, or explosive gas or liquid
Free from exposure to water, oil, or dust
Free from excessive electrical noise (plasma)
5.0 kVA
80 dB
HW1483759
177010-1CD
II
2
2
2
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