151781-1CD
5.1 Basic Specifications
HP600 MANIPULATOR
5 Basic Specifications
5.1Basic Specifications
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Table. 2 Basic Specifications*1 |
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Model |
MOTOMAN-UP350N-600 |
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(YR-UP350N-A30, -A31) |
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Operation Mode |
Vertically Articulated |
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Degree of Freedom |
6 |
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Payload |
600 kg |
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Repetitive Positioning Accuracy*2 |
±0.5 mm |
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S-Axis (turning) |
±150° |
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L-Axis (lower arm) |
+61°, -55° |
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Motion |
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U-Axis (upper arm) |
+30°, -113° |
Range |
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R-Axis (wrist roll) |
±360° |
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B-Axis (wrist pitch/yaw) |
±125° |
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T-Axis (wrist twist) |
±360° |
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S-Axis |
1.05 rad/s, 60°/s |
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L-Axis |
1.22 rad/s, 70°/s |
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Maximum |
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U-Axis |
1.22 rad/s, 70°/s |
Speed |
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R-Axis |
1.40 rad/s, 80°/s |
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B-Axis |
1.40 rad/s, 80°/s |
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T-Axis |
2.79 rad/s, 160°/s |
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Allowable |
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R-Axis |
2450 N•m (250 kgf•m) |
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B-Axis |
2450 N•m (250 kgf•m) |
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Moment |
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T-Axis |
823 N•m (84 kgf•m) |
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Allowable |
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R-Axis |
200 kg•m2 |
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Inertia*3 |
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B-Axis |
200 kg•m2 |
(GD2/4) |
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T-Axis |
90 kg•m2 |
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Mass |
2400 kg |
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Temperature |
0 to 45°C |
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Humidity |
20 to 80% RH (non-condensing) |
Ambient |
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Vibration acceleration |
4.9 m/s2 (0.5G) or less |
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Conditions |
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• Free from corrosive gasses or liquids, or explosive gasses |
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Others |
• Clean and dry |
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• Free from excessive electrical noise (plasma) |
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Power Capacity |
10.0 kVA |
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*1
*2
*3
SI units are used in this table. However, gravitational unit is used in (). Conformed to ISO9283.
Refer to " 6.1 Allowable Wrist Load " for details on the permissible moment of inertia.
5-1
HW0482904 24/73
151781-1CD
5.2 Part Names and Working Axes
HP600 MANIPULATOR
5.2Part Names and Working Axes
Upper arm |
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(U-arm) |
U+ |
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Wrist |
T+ |
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R+ |
B+ |
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Writ flange |
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U- |
R- |
B- |
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T- |
L- |
L+ |
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Lower arm
S+ (L-arm)
Rotary head
(S-head)
S-
Base
Fig. 8 Part Names and Working Axes
5.3Manipulator Base Dimensions
90 860
405±0.3
760
640
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±0.3 |
394 |
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355 |
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12 dia. |
+ 0.018 |
hole |
405±0.3 |
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A |
0 |
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(2 places) |
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View A |
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Fig. 9 Manipulator Base Dimensions
5-2
28 dia. hole (8 places)
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±0.3 |
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355 |
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760 |
860 |
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640 |
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Units: mm
HW0482904 25/73
151781-1CD
5.4 Dimensions and P-Point Maximum Envelope
HP600 MANIPULATOR
5.4Dimensions and P-Point Maximum Envelope
R698
R1098
1020
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1099 |
0 |
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575 |
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280 |
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165 |
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250 |
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30 |
° |
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° |
55 |
2365 |
1050 |
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R1378 |
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900 |
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525 |
0 |
R1084 |
R2542 |
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150
°
P-point
° 150
439 |
1299 |
2542 |
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1320 |
270 |
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2827 |
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565.5 |
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2379 |
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30 |
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° |
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P-point |
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61 |
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° |
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1543 |
661 |
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49 |
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1410 |
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° |
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26 |
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38 |
° |
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° |
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113 |
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900 |
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P-point maximum |
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envelope |
277 |
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97 |
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66 |
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0 |
624 |
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624 |
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763 787 913 |
1084 |
1199 |
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1248 |
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Units: mm |
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Fig. 10 External Dimensions and P-Point Maximum Envelope
5-3
HW0482904 26/73
151781-1CD
5.5 Alterable S-axis Operating Range
HP600 MANIPULATOR
5.5Alterable S-axis Operating Range
The operating range of the S-axis can be altered according to the operating conditions as shown in " Table. 3 S-axis Operating Range ". If alteration is necessary, contact your Yaskawa representative in advance.
Table. 3 S-axis Operating Range
Item |
Specifications |
S-axis |
±150° (standard) |
±120° |
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Operating |
± 90° |
Range |
± 60° |
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± 30° |
5-4
HW0482904 27/73