YASKAWA MOTOMAN-MPL80 II Instructions Manual

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YASKAWA MOTOMAN-MPL80 II Instructions Manual Manual pdf 29 page image

5-1170904-1CDHW14828705 Basic Specifications5.1 Basic SpecificationsMPL80 II5 Basic Specifications5.1 Basic SpecificationsTable 5-1: Basic Specifications 1)Item Model MOTOMAN-MPL80 IIStructure Vertically ArticulatedDegree of Freedom 5Payload 80 kgRepeatability2) ±0.07 mmRange of Motion S-Axis (turning) -180+180L-Axis (lower arm) -90+135U-Axis (upper arm) -160+35B-Axis (wrist pitch/yaw) -15+153)T-Axis (wrist twist) -360+360Maximum Speed S-Axis 2.97 rad/s, 170/sL-Axis 2.97 rad/s, 170/sU-Axis 2.97 rad/s, 170/sB-Axis 2.97 rad/s, 170/sT-Axis 6.11 rad/s, 350/sAllowable Moment4) B-Axis 78.4 N•m (8 kgf•m)T-Axis 20.5 N•m (2.1 kgf•m)Allowable Inertia(GD2 /4)B-Axis 16 kg•m2T-Axis 6.1 kg•m 2Approx. Mass 550 kgProtective Structure Basic axis: IP54 or equivalentWrist axis only: IP67 or equivalentAmbient Conditions Temperature 0 to 45CHumidity 20 to 80% RH at constant temperatureVibration Acceleration Less than 4.9 m/s 2 (0.5 G)Others Free from corrosive gas or liquid, or explosive gas.Free from water, oil, or dust.Free from excessive electrical noise (plasma).Power Capacity 4.0 kVANoise5) 70 dB1 SI units are used in this table. However, gravitational unit is used in ( ).2 Conformed to ISO92833 The range of motion of the B-axis indicates the angle to the ground. With certain postures,however, motion may be limited by the relative angle between the B-axis and the upper arm.Refer to section 5.5 “B-Axis Operating Range”.4 Refer to section 6.1 “Allowable Wrist Load” for details on the permissible moment of inertia.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.29 of 81