YASKAWA MOTOMAN-MH215 II Instructions Manual

Contents

YASKAWA MOTOMAN-MH215 II Instructions Manual Manual pdf 30 page image

5 Basic Specifications5.1 Basic Specifications5-1177010-1CDHW1483759MH215 II5 Basic Specifications5.1 Basic SpecificationsTable 5-1: Basic Specifications1)1 SI units are used in this table. However, gravitational unit is used in ( ).Item Model MOTOMAN-MH215 IIStructure Vertically ArticulatedDegree of Freedom 6Payload 215kgRepeatability2)2 Conformed to ISO9283±0.2 mmRange of Motion S-Axis (turning) -180° - +180°L-Axis (lower arm) -60° - +76°U-Axis (upper arm) -142.5° - +230°R-Axis (wrist roll) -360° - +360°B-Axis (wrist pitch/yaw) -125° - +125°T-Axis (wrist twist) -360° - +360°Maximum Speed S-Axis 1.75 rad/s, 100°/sL-Axis 1.57 rad/s, 90°/sU-Axis 1.69 rad/s, 97°/sR-Axis 2.09 rad/s, 120°/sB-Axis 2.09 rad/s, 120°/sT-Axis 3.32 rad/s, 190°/sAllowable Moment3)3 Refer to section 6.1 “Allowable Wrist Load” for details on the permissible moment of inertia.R-Axis 1176 N•m (120 kgf•m)B-Axis 1176 N•m (120kgf•m)T-Axis 710 N•m (72 kgf•m)Allowable Inertia(GD2 /4)R-Axis 317 kg•m 2B-Axis 317 kg•m 2T-Axis 200 kg•m 2Approx. Mass 1140 kgProtective Structure Basic axis: IP54 or equivalentWrist axis only: IP67 or equivalentAmbient Conditions Temperature 0° C to 45° CHumidity 20 to 80% RH (non-condensing)Vibration Acceleration 4.9 m/s 2 or less (0.5 G)Others Free from corrosive gas or liquid, or explosive gas or liquidFree from exposure to water, oil, or dustFree from excessive electrical noise (plasma)Power Requirements 5.0 kVANoise4)4 Conformed to ISO69261, Measurement is carried out when the maximum load is mounted to the manipulator andoperated 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.80 dB30 of 102