1、 Technical Specifications

Model QJRH4-1A
Mechanism Vertical multi-joint
Degree of freedom 6
Payload 4kg
Max.arm span 1410.5mm
Repeat positioning accuracy ±0.03mm
1 axis ±168°
2 axis +150°，-89°
3 axis +85°，-111°
Motion range
4 axis ±167°
5 axis +58°，-217°
6 axis ±360°
1 axis 3.5 rad/s 201°/s
2 axis 3.5 rad/s 201°/s
3 axis 4.1 rad/s 235°/s
Max. speed
4 axis 6.1 rad/s 350°/s
5 axis 6.2 rad/s 355°/s
6 axis 8.4 rad/s 487°/s
2
1 axis 15(45) rad/s
2
2 axis 12.5(21) rad/s
Max. 3 axis 20(31) rad/s
2

accelerated 2
speed 4 axis 50 rad/s
2
5 axis 45 rad/s
2
6 axis 60 rad/s
4 axis 10.51 N.m
Allowable
5 axis 10.51 N.m
torque
6 axis 2.94 N.m
2
4 axis 0.38 kg.m
Inertia 2
5 axis 0.38 kg.m
moment 2
6 axis 0.03 kg.m
 Temperatu
0~45 ℃
re
Humidity 20%~80% RH(Non-condensate)
Installation Vibration
2
<4.9m/s (0.5G)
environment Avoid flammable, corrosive gases and
liquids；
Other
Avoid contact with water, oil, dust, etc；
Keep away from electrical noise sources.
Robot weight 150 kg
Power capacity 2.7kVA
Control Cabinet Size L580*W600*H960mm
Control Cabinet Weight 130kg
Power Supply 3-phase 4-wire AC380V±10%
2、 Dimension and Maximum Motion Range
3、Mounting Dimensions of Base

3、 Dimension Drawing of End mounting

5、Configuration

Motor HCFA

RV reduction box
SAMPO Harmonic reduction box
Controller QJ

Driver HCFA

6、Control Cabinet Parameters

Control hardware QJ controller

Controller software QJ operating system

Power supply 3 phase 4 line AC380V(±10%)

Rated power 4.5KW

Power capacity 2.7KVA

Controller size 580x600x960 mm

Controller weight 130kg

Environment temperature 0-45℃

Max humidity 20%~80% RH(Non-condensate)

Level of protection IP21

Operation panel Control on the ark

Programming unit Color touch screen teaching box
Emergency stop, Automatic mode stop, Remote
Safety mode stop

In-out Figure IO 16 Input 16 Output, Analog signal 4 output