Product specifications
| Model | YS140D | ||
| Structure | Articulated | ||
| Degree of Freedom | 6 | ||
| Drive Method | AC Servo | ||
| Max.MotionRange | Main Axes | Swivel | ±180 ° |
| Horizontal | +165° ~ -30° | ||
| Vertical | +230° ~ -140° | ||
| Wrist Axes | R2 | ±360 ° | |
| B(Bending) | ±125 ° | ||
| R1(Twisting) | ±360 ° | ||
| Max.Speed | Main Axes | Swivel | 120 °/s |
| Horizontal | 120 °/s | ||
| Vertical | 120 °/s | ||
| Wrist Axes | R2 | 165 °/s | |
| B(Bending) | 165 °/s | ||
| R1(Twisting) | 250 °/s | ||
| Payload | 140 kg | ||
| AllowableTorque | Wrist Axes | R2 | 70 kgf.m |
| B(Bending) | 70 kgf.m | ||
| R1(Twisting) | 35 kgf.m | ||
| Repeatability | ±0.15 mm | ||
| Ambient temperature | 0~45°C | ||
| Body Weight | 562 kg | ||
| Installation method | Floor | ||
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