YASKAWA MOTOMAN-MH600 Instructions Manual

Contents

YASKAWA MOTOMAN-MH600 Instructions Manual Manual pdf 24 page image

5 Basic Specifications5.1 Basic Specifications5-1HW1483270HW14832705 Basic Specifications5.1 Basic SpecificationsTable 5-1: Basic Specifications*1)1 SI units are used in this table. However, gravitational unit is used in ( ). SI units are used in this table.However, gravitational unit is used in ( ).Item Model MOTOMAN-MH600YR-MH00600-A00Configuration Vertically ArticulatedDegree of Freedom 6Payload 600 kgRepeatability 2)2 Conforms to ISO9283±0.3 mmMotion Range S-axis (turning) -180° − +180°L-axis (lower arm) -55° − +61°U-axis (upper arm) -113° − +18°R-axis (wrist roll) -360° − +360°B-axis (wrist pitch/yaw) -115° − +115°T-axis (wrist twist) -360° − +360°MaximumSpeed3)3 Depending on the operation position, it may not reach the maximum speed of each axis.S-axis 1.43 rad/s, 82°/sL-axis 1.43 rad/s, 82°/sU-axis 1.43 rad/s, 82°/sR-axis 1.40 rad/s, 80°/sB-axis 1.40 rad/s, 80°/sT-axis 2.83 rad/s, 162°/sAllowableMoment4)4 Refer to chapter 6 “Allowable Load for Wrist Axis and Wrist Flange” for details on the permissible moment ofinertia.R-axis 3430 N•m (350 kgf•m)B-axis 3430 N•m (350 kgf•m)T-axis 1764 N•m (180 kgf•m)AllowableInertia(GD2 /4)4)R-axis 520 kg•m 2B-axis 520 kg•m 2T-axis 350 kg•m 2Mass 3050 kgProtective Structure Main part of the manipulator: IP30 or equivalentWrist axis only: IP67 or equivalentAmbientConditionsTemperature 0 to 45°CHumidity 20 to 80% RH (non-condensing)Vibration Acceleration Less than 4.9 m/s 2 (0.5 G)Others Free from corrosive gasses or liquids, or explosive gassesFree from water, oil, or dustFree from excessive electrical noise (plasma)Power Capacity 7.0 kVANoise5)5 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 1.2m and 1.5m above the ground.-400mm away from the P-point maximum envelope.70 dB24/88