5-1
167109-1CD
HW1482308
5
Basic Specifications
5.1 Basic Specifications
MS165
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-MS165
Flange for Cable Processing
2)
2 Specification changes when the manipulator is equipped with a flange for cable processing.
fig. 5-3 “Dimensions and P-Point Maximum Envelope”
.)
Not Equipped
Equipped
Application
Spot Welding
Structure
Vertically Articulated
Degree of Freedom
6
Payload
180 kg
165 kg
Repeatability
3)
3 Conformed to ISO9283
±0.2 mm
Range of Motion
S-Axis (turning)
-180° - +180°
L-Axis (lower arm)
-60° - +76°
U-Axis (upper arm)
-147° - +90°
R-Axis (wrist roll)
-360° - +360°
-210° - +210°
B-Axis (wrist pitch/yaw)
-130° - +130°
-125° - +125°
T-Axis (wrist twist)
-360° - +360°
-210° - +210°
Maximum Speed
S-Axis
2.18 rad/s, 125°/s
L-Axis
2.01 rad/s, 115°/s
U-Axis
2.18 rad/s, 125°/s
R-Axis
3.18 rad/s, 182°/s
B-Axis
3.05 rad/s, 175°/s
T-Axis
4.63 rad/s, 265°/s
Allowable Moment
4)
4 Refer to table
chapter 6.1 “Allowable Wrist Load”
for details on the permissible moment of inertia.
R-Axis
1000 N•m (102 kgf•m)
951 N•m (97 kgf•m)
B-Axis
1000 N•m (102 kgf•m)
951 N•m (97 kgf•m)
T-Axis
618 N•m (63 kgf•m)
Allowable Inertia
(GD
2
/4)
R-Axis
90 kg•m
2
88 kg•m
2
B-Axis
90 kg•m
2
88 kg•m
2
T-Axis
46.3 kg•m
2
Approx. Mass
970 kg
Protective Structure
Basic axis: IP54 or equivalent
Wrist axis only: IP67 or equivalent
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
Noise
5)
5 Conformed to ISO6926
1, Measurement is carried out when the maximum load is mounted to the manipulator and
operated 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.
76 dB
30 of 100
