Mechanical Operation and Maintenance Manual for ER20-1100 Industrial Robot
16
Figure 2-4 Position of mechanical end stops and home position
2.6 Robot performance parameters
Table 2-2 Parameter list of performance
Model
ER20-1100
Motion type
Joint
Control axis
6 Axes
Maximum speed
axis/J1
轴
260°/sec
axis/J2
轴
255°/sec
axis/J3
轴
210°/sec
axis/J4
轴
450°/sec
axis/J5
轴
450°/sec
axis/J6
轴
600°/sec
Maximum motion
range
axis/J1
轴
±170°
axis/J2
轴
-160°
~
+83°
axis/J3
轴
-85°
~
+175°
axis/J4
轴
±190°
axis/J5
轴
±130°
axis/J6
轴
±360°
Maximum motion radius of robot arm
1143mm
Maximum payload of robot wrist
20 kg
Installation conditions
Ground, upside down, wall hanging
Protection class
IP65 (others) / IP67 (wrist)
Repeatability
±0.05mm
Body weight
145kg
Home position of axis J4
Home position of axis J5
Home position of axis J6