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Model | CR-351A | |
Mechanism | Articulated Robot | |
Number of controlled axes | 6 axes (J1, J2, J3, J4, J5, J6) | |
Reachable radius | 1813 mm | |
Installation | Ground installation | |
Range of motion | J1 axis rotation | 340°/370°(option)5.93 rad/6.46 rad(option) |
J2 axis rotation | 165°2.88 rad | |
J3 axis rotation | 312°5.45 rad | |
J4 axis wrist rotation | 400°6.98 rad | |
J5-axis wrist swing | 220°3.84 rad | |
J6-axis wrist rotation | 900°15.71 rad | |
Wrist load capacity | 35ko | |
J3 housing can handle mass | 2kg | |
Maximum speed Note 1) | 250 mm/s (max. 750 mm/s, Note 2) | |
Wrist allowable load torque | J 4 axis | 110 N ·m |
J5 axis | 110 N ·m | |
J 6 axis | 60 N ·m | |
Wrist allowable load Moment of inertia | J 4 axis | 4.00 kg ·m² |
J 5 axis | 4.00 kg ·m² | |
J6 axis | 1.50 kg ·m² | |
Drive mode | Electrical servo drive using AC servo motors | |
Repeatability Note 3) | ±0.03mm | |
Robot Quality Note 4) | 990 kg | |
Installation conditions | Ambient temperature: 0~45℃ | |
Note 1) When moving short distances, the maximum speed may not be achieved. | ||
Note 2) When using a safety sensor (separate type) for area monitoring. | ||
Note 3) The measurement results comply with ISO 9283 "Industrial Robot Performance Specifications and Test Methods". Note 4) The mass of the control device is not included. |