ZDGT2518D

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Industrial Robot

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Detail

Robot model		ZDGT2518D
Freedom		6
Position		Ground installation and suspended ceiling installation
Maximum operating speed	J1 Axis	145°/sec
	J2 Axis	115°/sec
	J3 Axis	150°/sec
	J4 Axis	330°/sec
	J5 Axis	295°/sec
	J6 Axis	435°/sec
Maximum operating range	J1 Axis	±180°
	J2 Axis	-129°~+107°
	J3 Axis	-78°~+178°
	J4 Axis	±180°
	J5 Axis	±133°
	J6 Axis	±360°
Maximum activity radius		1839mm
Maximum end load		25Kg
Body weight		About 198Kg
Allowable torque	J4	52N ·m
	J5	52N-m
	J6	32N-m
Allowable moment of inertia	J4	2.40kg-m²
	J5	2.40kg-m²
	J6	1.20kgm²
Repeatability		±0.08mm
Robot base size		300×420mm
Ambient temperature		0~45℃
Relative humidity		20~80%RH
Atmospheric pressure		89KPa~106KPa (Altitudebelow 1000m)
Vibration,impact,collision		≤0.5G
Protectiongrade		P54 (Wrist IP67)

■ Work scope diagram

■ Installation interface diagram

■ Inertia tensor of the connecting rod relative to the center of mass

Object	Base	Rotating seat components	Boom components	Small arm fixed seat components	Small arm components	Wrist
Consult	Coordinate system 0	Coordinate system 1	Coordinate system 2	Coordinate system 3	Coordinate system 4	Coordinate system 5
lxx(Kgmm²)	/	2.1×10⁶	9.4×10⁵	3.9×10⁵	1.1×10⁶	8.0×10³
lyy(Kgmm²)	/	2.7×10⁶	1.2×10⁷	2.1×10⁵	1.1×10⁶	8.0×10³
Iz(Kgmm²)	/	1.6×10⁶	1.1×10⁷	4.4×10⁵	4.8×10⁴	5.0×10³

■ Joint coupling

Joint	J1-J2	J2-J3	J3-J4	J4-J5	J4-J6	J5-J6
Coupling relationship equation (Coupling coefficient)	/	/	/	/	/	2.07

■ Reducer parameters

Model	100C	250BX	42D	10C	Gear	Gear
Reducer reduction ratio	36.75	111	105	27	/	/
Comprehensive reduction ratio	102.9	111	104	90.5	101.6	68.5
Rated output speed (r/min)	15	15	15	15	/	/
Rated torque (N ·m)	980	1078	412	98	/	/
Permissible torque for starting and stopping (N-m)	2450	2695	1029	245	/	/
Instantaneous maximum torque (N ·m)	4900	5390	2058	490	/	/
Moment rigidity (N ·m)	2450	2940	1660	386	/	/
Instantaneous maximum torque (N ·m)	4900	5880	3320	1372	/	/

■ Motor parameters

Joint	J1	J2	J3	J4	J5	J6
Motor model	130	180	130	60	60	60
Rated power (kW)	2	3	1.5	0.4	0.4	0.4
Rated voltage (V)	220
Rated current (A)	10	18	7	2.6	2.6	2.6
Rated torque (N·m)	6.36	14.3	4.77	1.27	1.27	1.27
Rated speed (r/min)	3000	2000	3000	3000	3000	3000
Maximum speed (r/min)	3000	2200	3100	4500	4500	4500
Rotor inertia (*10e-4kgm²)	16.5	51	9	0.4	0.4	0.4
Line back electromotive force coefficient (V/Krpm)	50.5	52.8	48	33	33	33
Number of pole pairs	5
Encoder	17 bit multi turn insulation value Tamagawa agreement

Industrial Robot

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