3. BASIC SPECIFICATIONS Modal ‘Specifications (3/4) ME20:A720M B.S2674ENA2 Me20VA735M Type (Controlied axes Installation Gravis, J2, J3,J4, J5.J6) Floor (Upside-down, Wall & Angle mount) (NOTE 1) ‘Load setting 20kg mode 35kg mode Jtaxis 485° (3.23red)_ 1-185 3.23rad) Motion range [| _J2-axs 160° (2,78rad) 100° (-1.76rad) Janis 275.5" (4.B1red) 185° 3.23180) Uppertimit [a-axis 200" (3.49rad) ower limit | J6 axis 140° (2.44rad) Je-axis 7 L z n 1 Zi ‘450° (7.85red) 195%/s (3.43radis) 1807%s (3.14radls 175%1s( 3.05racls) 180" (3.14radls) Maximum 180"%s ( 3.14radls) 200"%s (3.49rad/s speed (Note 2) 405s (7.07rad's) 3507%s (6.1 trad!) 405s (7 O7rad's) 3507/5 (6.1 trad 615%5(10.73rad/s) 400°7s (6 S8radls) 20g 35kg {NOTE 3) Jas 48.1Nm (4.6kgf-m TiO.ON (2k) Je-axis Jé-aris 45.1Nm (4.6kaf-m) 30,0Nm (3.1kgf-m 110.0Nm (11.2kgf-m) 60.0Nm (6.12kgf-mn) Jaxis 2.01Kg mF (20.42 kof-em-3") 4.00kg.m (40.82 kaf-em-s) Janis 2.0thg ni (20.42 kgfem-s*) 4.00kg.m? (40.82 kgf-em-s) Je-axis 1.01g.m (10.28 kgf-cm-s? 1.50kg.m? (15.31 kgf-em-s") Repeatabilty 0.0mm Robot mass, 250Kq 25240 ‘Acoustic noise level Less than 7048 (NOTE 4) 01045'C (NOTES) Normally 7524RH or ess (No daw or fost allowed) Short time 85%Rhor less (Within 1 month) Permissible alttude: Above the sea 100m or less Vibration accaleration : 4.2mis? (0.56) or less Free of coosive “Ambient temperature: ‘Ambient humility: Installation environment NOTE Under the installation condition within ( ), motion range will be limited. See Section 3.6. During short distance motions, the axis speed may not reach the maximum value stated. Maximum load on J3 arm depends on load of wrist. See Section 4.2 in detail. This value is equivalent continuous A-weighted sound pressure level, which applied with 18011201 (EN31201). This value is measured with the following conditions. -Maximum load and speed -Operating mode is AUTO ‘When the robot is used in a low temperature environment that is near to 0°C, or not operated for a long time in the environment that is less than 0°C (during a holiday or during the night), a collision detection alarm (SRVO-050) etc. may occur since the resistance of the drive mechanism could be high immediately after starting the operation. In this case, we recommend performing the warm up operation for several minutes. Contact the service representative, if the robot is to be used in an environment or a place subjected to hot/cold temperatures, severe vibrations, heavy dust, cutting oil splash and or other foreign substances. -16-