5-1
175873-1CD
HW1483557
5
Basic Specifications
5.1 Basic Specifications
VS100
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-VS100
YASKAWA Standard External Cable
2)
2 Specification changes when the manipulator is equipped with YASKAWA standard external cable.
Not Equipped
Equipped
Structure
Vertically Articulated
Degree of Freedom
7
Payload
110 kg
100 kg
Repeatability
3)
3 Conformed to ISO9283
±0.12 mm
Range of Motion
S-Axis (turning)
-180° - +180°
L-Axis (lower arm)
-45° - +155°
E-Axis (elbow)
-45° - +120°
U-Axis (upper arm)
-70° - +90°
R-Axis (wrist roll)
-360° - +360°
-205° - +205°
B-Axis (wrist pitch/yaw)
-125° - +125°
-120° - +120°
T-Axis (wrist twist)
-360° - +360°
-205° - +205°
Maximum Speed
S-Axis
2.45 rad/s, 140°/s
L-Axis
1.92 rad/s, 110°/s
E-Axis
1.92 rad/s, 110°/s
U-Axis
2.27 rad/s, 130°/s
R-Axis
3.05 rad/s, 175°/s
B-Axis
3.05 rad/s, 175°/s
T-Axis
4.45 rad/s, 255°/s
Allowable Moment
4)
4 Refer to
section 6.1 “Allowable Wrist Load”
for details on the permissible moment of inertia.
R-Axis
721 N•m (73.5 kgf•m)
696 N•m (71 kgf•m)
B-Axis
721 N•m (73.5 kgf•m)
696 N•m (71 kgf•m)
T-Axis
294 N•m (30 kgf•m)
Allowable Inertia
(GD
2
/4)
R-Axis
60 kg•m
2
58 kg•m
2
B-Axis
60 kg•m
2
58 kg•m
2
T-Axis
33.7 kg•m
2
33 kg•m
2
Approx. Mass
780 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
5.5 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.
75 dB
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