Product specifications
| Model | YS140 | ||
| Structure | Articulated | ||
| Degree of Freedom | 6 | ||
| Drive Method | AC Servo | ||
| Max.MotionRange | Main Axes | Swivel | ±3.141 rad(180°) |
| Horizontal | +3.141~-1.047rad(+180°~ -60°) | ||
| Vertical | +180°~-80° | ||
| Wrist Axes | R2 | ±6.283 rad (±360°) | |
| B(Bending) | ±2.182 rad (±125°) | ||
| R1(Twisting) | ±6.283 rad (±360°) | ||
| Max.Speed | Main Axes | Swivel | 2.443 rad/s (140°/s) |
| Horizontal | 1.920 rad/s (110°/s) | ||
| Vertical | 2.094rad/s (120°/s) | ||
| Wrist Axes | R2 | 2.880 rad/s (165°/s) | |
| B(Bending) | 2.880 rad/s (165°/s) | ||
| R1(Twisting) | 4.363 rad/s (250°/s) | ||
| Payload | 140 kg | ||
| AllowableTorque | Wrist Axes | R2 | 686 Nm (70 Kgfm) |
| B(Bending) | 686 Nm (70 Kgfm) | ||
| R1(Twisting) | 343 Nm (35 Kgfm) | ||
| Repeatability | ±0.17 mm | ||
| Ambient temperature | 0 ~ 45 °C (273 ~ 318 K) | ||
| Body Weight | 670 Kg | ||
| Installation method | Floor / Wall / Ceiling | ||
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