Basic Specifications - YASKAWA MOTOMAN-HP20 Instructions Manual

5 Basic Specifications

5.1
Basic Specifications
Item
Degree of Freedom
Range of
Motion
Maximum
Speed
Allowable
*3
Moment
Allowable
Inertia
2 *3
(GD /4)
Ambient
*4
Conditions
Power Requirements
*1
SI units are used in this table. However, gravitational unit is used in ( ).
*2
Conformed to ISO9283
*3
Refer to " 6.1 Allowable Wrist Load " for details on the allowable moment and inertia.
*4
Conformed to IP54 for the main part of the manipulator (floor-mounted type only). Conformed to IP67 for the
wri
st part (IP65 for the main part is optional.)
Table. 3 Basic Specifications
Model
Configuration
Payload
*2
Repeatability
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
Mass
Temperature
Humidity
Vibration Acceleration
Others
*1
MOTOMAN-HP20
Vertically Articulated
6
20 kg
±0.06 mm
±180°
+155°, -110°
+255°, -165°
±200°
+230°, -50°
±360°
2.96 rad/s, 170°/s
2.96 rad/s, 170°/s
3.05 rad/s, 175°/s
6.20 rad/s, 355°/s
6.02 rad/s, 345°/s
9.16 rad/s, 525°/s
39.2 Nm (0.9 kgfm)
39.2 Nm (0.9 kgfm)
19.6 Nm (0.25 kgfm)
0.9 kgm
0.9 kgm
0.25 kgm
280 kg
0 to 45°C
20 to 80% RH (at constant temperature)
2
4.9 m/s (0.5G) or less
• Free from corrosive gasses or liquids, or explo-
sive gasses
• Clean and dry
• Free from excessive electrical noise (plasma)
2.8 kVA
5-1
5.1 Basic Specifications
2
2
2