Basic Specifications - YASKAWA Motoman UP6 Instructions Manual

5 Basic Specifications

5.1
Basic Specifications
Repetitive Positioning Accuracy
Motion
Range
Maximum
Speed
Allowable
*3
Moment
Allowable
Inertia
2
(GD /4)
Ambient
Conditions
*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 permissible moment of inertia.
Table. 2 Basic Specifications
Operation Mode
Degree of Freedom
Payload
*2
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
Others
Power Capacity
*1
Vertically Articulated
6
6kg
±0.08mm
±170°
+155°, -90°
+190°, -170°
±180°
+225°, -45°
±360°
2.44 rad/s, 140°/s
2.79 rad/s, 160°/s
2.97 rad/s, 170°/s
5.85 rad/s, 335°/s
5.85 rad/s, 335°/s
8.73 rad/s, 500°/s
11.8N•m (1.2kgf•m)
9.8N•m (1.0kgf•m)
5.9N•m (0.6kgf•m)
2
0.24kg•m
2
0.17kg•m
2
0.06kg•m
130kg
0° to 45C°
20 to 80% RH (non-condensing)
Less than 0.5G
• Free from corrosive gasses or liquids, or
explosive gasses
• Clean and dry
• Free from excessive electrical noise (plasma)
1.5kVA
5-1
5.1 Basic Specifications