Product specifications
| Model | HA020W | ||
| Structure | Articulated | ||
| Degree of Freedom | 6 | ||
| Drive Method | AC Servo | ||
| Max.MotionRange | Main Axes | Swivel | ±180 ° |
| Horizontal | +150° ~ -110° | ||
| Vertical | +250° ~ -155° | ||
| Wrist Axes | R2 | ±180 ° | |
| B(Bending) | ±135 ° | ||
| R1(Twisting) | ±360 ° | ||
| Max.Speed | Main Axes | Swivel | 170 °/s |
| Horizontal | 165 °/s | ||
| Vertical | 170 °/s | ||
| Wrist Axes | R2 | 335 °/s | |
| B(Bending) | 335 °/s | ||
| R1(Twisting) | 600 °/s | ||
| Payload | 20 kg | ||
| AllowableTorque | Wrist Axes | R2 | 4.0 kgf.m |
| B(Bending) | 4.0 kgf.m | ||
| R1(Twisting) | 2.0 kgf.m | ||
| Repeatability | ±0.08 mm | ||
| Ambient temperature | 0~45°C | ||
| Body Weight | 240 kg | ||
| Installation method | Floor/Wall/Ceiling | ||
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