|
Item |
KH-R130-310S7 |
KH-R170-270S7 |
KH-R220-270S7 |
|
|
Structural Form |
Vertical multi-joint series structure |
Vertical multi-joint series structure |
Vertical multi-joint series structure |
|
|
Number of Axes |
6-axis |
6-axis |
6-axis |
|
|
Maximum Movement Radius |
3096mm |
2701mm |
2701mm |
|
|
Repeat Positioning Accuracy |
±0.05mm |
±0.05mm |
±0.05mm |
|
|
Max Load |
130kg |
170kg |
220kg |
|
|
Protection Level |
IP54(Wrist IP67) |
IP54(Wrist IP67) |
IP54(Wrist IP67) |
|
|
Max Movement Speed |
Joint 1 |
130°/s |
130°/s |
120°/s |
|
Joint 2 |
115°/s |
115°/s |
105°/s |
|
|
Joint 3 |
115°/s |
115°/s |
110°/s |
|
|
Joint 4 |
180°/s |
180°/s |
140°/s |
|
|
Joint 5 |
180°/s |
180°/s |
140°/s |
|
|
Joint 6 |
260°/s |
260°/s |
220°/s |
|
|
Maximum Range of Motion |
Joint 1 |
±180° |
±180° |
±180° |
|
Joint 2 |
-76°~+60° |
-76°~+60° |
-76°~+60° |
|
|
Joint 3 |
-79°~+180° |
-79°~+180° |
-79°~+180° |
|
|
Joint 4 |
±360° |
±360° |
±360° |
|
|
Joint 5 |
±125° |
±125 |
±125° |
|
|
Joint 6 |
±360° |
±360 |
±360° |
|
|
Permissible Wrist Torque |
J4 axis |
710Nm |
940Nm |
1360Nm |
|
J5 axis |
710Nm |
940Nm |
1360Nm |
|
|
J6 axis |
355Nm |
490Nm |
735Nm |
|
|
Max Wrist Inertia |
J4 axis |
72kgm² |
89kgm² |
147kgm² |
|
J5 axis |
72kgm² |
89kgm² |
147kgm² |
|
|
J6 axis |
40kgm² |
46kgm² |
82kgm² |
|
|
Max Power |
25.5kw |
25.5kw |
25.5kw |
|
|
User Interface |
Wiring |
24 signal channels 30V 0.5A |
24 signal channels 30V0.5A |
24 signal channels 30V 0.5A |
|
Gas Path |
1 air source 012mm 0.59Mpa |
1 air source O12mm 0.59Mpa |
1 air source O12mm 0.59Mpa |
|
|
Environmental Conditions |
Operating Temperature |
0~45℃ |
0~45℃ |
0~45℃ |
|
Ambient Humidity |
5%~95%(no condensation) |
5%~95%(no condensation) |
5%~95%(no condensation) |
|
|
Maximum Temperature Gradient |
1.5℃/min |
1.5℃/min |
1.5℃/min |
|
|
Weight |
1155kg |
1130kg |
1130kg |
|
|
Applicable Control Cabinet |
KHB100 High Protection |
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|
Installation |
Landing |
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