5-1
156226-1CD
HW0484971
MA1900
5
Basic Specifications
5.1 Basic Specifications
5
Basic Specifications
5.1
Basic Specifications
Table 5-1: Basic Specifications
1)
Item
Model
MOTOMAN-MA1900
Structure
Vertically
Articulated
Degree
of
Freedom
6
Payload
3
kg
Repeatability
2)
±0.08 mm
Range
of
Motion
S-Axis
(turning)
±180°
L-Axis (lower arm)
+155°, -110°
U-Axis (upper arm)
+220°, -165°
R-Axis
(wrist
roll)
±150°
B-Axis (wrist pitch/yaw)
+180°, -45°
T-Axis
(wrist
twist)
±200°
Maximum
Speed
S-Axis
3.44
rad/s,
197°/s
L-Axis
3.05
rad/s,
175°/s
U-Axis
3.23
rad/s,
185°/s
R-Axis
7.16
rad/s,
410°/s
B-Axis
7.16
rad/s,
410°/s
T-Axis
10.65
rad/s,
610°/s
Allowable Moment
3)
R-Axis
8.8
N•m
(0.9
kgf•m)
B-Axis
8.8
N•m
(0.9
kgf•m)
T-Axis
2.9
N•m
(0.3
kgf•m)
Allowable Inertia (GD
2
/4)
R-Axis
0.27
kg•m
2
B-Axis
0.27
kg•m
2
T-Axis
0.03
kg•m
2
Approx. Mass
280 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 gas or liquid, or explosive gas
Free from exposure to water, oil, or dust
Free from excessive electrical noise (plasma)
Power
Requirements
2.0
kVA
1 SI units are used in this table. However, gravitational unit is used in ( ).
2 Conformed to ISO9283
3 Refer to
Section 6.1 “Allowable Wrist Load” on page 6-1
for details on t he permissible moment of inertia.
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