Basic Specifications - YASKAWA MOTOMAN-HP6 YR-HP6-A00 Instructions Manual

5.1 Basic Specifications

5 Basic Specifications
5.1
Basic Specifications
Degree of Freedom
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. 3 Basic Specifications
Operation Mode
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°
+250°, -175°
±180°
+225°, -45°
±360°
2.62 rad/s, 150°/s
2.79 rad/s, 160°/s
2.97 rad/s, 170°/s
5.93 rad/s, 340°/s
5.93 rad/s, 340°/s
9.08 rad/s, 520°/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 45°C
20 to 80% RH (no-condensing)
Less than 4.9m/s 2
• Free from corrosive gas or liquid, or explosive
gas
• Free from dust, soot, or water
• Free from excessive electrical noise (plasma)
1.5kVA
5-1
HW0481893
(0.5G)