5 Basic Specifications
5.1 Basic Specifications
5-1
155976-1CD
HW0485249
ES165D
5
Basic Specifications
5.1
Basic Specifications
Table 5-1: Basic Specifications
1)
1 SI units are used in this table. However, gravitational unit is used in ( ).
Item Model
MOTOMAN-ES165D
MOTOMAN-ES165D
with external cabling for
SRBT-axes
Structure
Vertically Articulated
Degree of Freedom
6
Payload
165 kg
Repeatability
2)
2 Conformed to ISO9283
±0.2 mm
Range 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°
-205° - +205°
B-Axis (wrist pitch/yaw)
-130° - +130°
-120° - +120°
T-Axis (wrist twist)
-360° - +360°
-200° - +200°
Maximum Speed
S-Axis
1.92 rad/s, 110°/s
L-Axis
1.92 rad/s, 110°/s
U-Axis
1.92 rad/s, 110°/s
R-Axis
3.05 rad/s, 175°/s
B-Axis
2.62 rad/s, 150°/s
T-Axis
4.19 rad/s, 240°/s
Allowable Moment
3)
3 Refer to
chapter 6.1 “Allowable Wrist Load”
for details on the permissible moment of inertia.
R-Axis
921 N•m (94 kgf•m)
B-Axis
921 N•m (94 kgf•m)
T-Axis
490 N•m (50 kgf•m)
Allowable Inertia (GD
2
/4) R-Axis
85 kg•m
2
B-Axis
85 kg•m
2
T-Axis
45 kg•m
2
Approx. Mass
1100 kg
Ambient Conditions
Temperature
0° C to 45° C
Humidity
20 to 80% RH (non-condensing)
Vibration Acceleration
4.9 m/s
2
or less (0.5 G)
Others
Free from corrosive gasses or liquids, or explosive
gasses
Free from exposure to water, oil, or dust
Free from excessive electrical noise (plasma)
Power Requirements
5.0 kVA
28 of 92
