| Type | Horizontal articulated type | |||
|---|---|---|---|---|
| Degree of freedom (axes) | 4 axes each arm | |||
| Max. payload (kg) | 2 kg each arm (4 kg total) | |||
| Positional repeatability (mm) | ±0.05 | |||
| Motion range (°) | Lower arm | Upper arm | ||
| Arm rotation (JT1) (°) | －170 - +170 | －140 - +500 | ||
| Arm rotation (JT2) (°) | －140 - +140 | －140 - +140 | ||
| Arm up-down (JT3) (mm) | 0 - +150 *1 | 0 - +150 *1 | ||
| Wrist swivel (JT4) (°) | －360 - +360 *1 | －360 - +360 *1 | ||
| Allowable moment (N・m) | Wrist axis (JT4) | 3.9 | ||
| Allowable moment of inertia (kg・㎡) | Wrist axis (JT4) | 0.086 | ||
| Controller (F61) | Number of controlled axes | Max. 12 | ||
| Drive system | Full digital servo system | |||
| Coordinate systems | Joint, Base, Tool | |||
| Types of motion control | Joint/Linear/Circular Interpolated motion | |||
| Programming | Direct teaching method, Simple teaching method through tablets | |||
| Memory capacity (MB) | 4 | |||
| General purpose signals |
Input (Channels) | NPN model:12 (Max 24) / PNP model:6 (Max 16) / Cubic-S model:6 (Max 16)*2 | ||
| Output (Channels) | NPN model:4 (Max 12) / PNP model:10 (Max 24) / Cubic-S model:0 (Max 14)*2 | |||
| Power requirements | AC200-240V, 50/60Hz±2%, 1Φ, Max. 2.0kVA | |||
| Class-D earth connection (Earth connection dedicated to robots), leakage current: Maximum 10mA |
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| Mass (kg) | 200 | |||
| Installation | Floor | |||
| Installation Environment |
Temperature (°C) | 5 - 40 | ||
| Humidity (%) | 35 - 85(No condensation) | |||
KAWASAKI
DETAIL