PRODUCTS

Detail

Robot model ZDGT10024
Freedom
Position Groundinstallation and suspended
ceiling installation
Maximum operating speed J1 Axis 85°/sec
J2 Axis 84°/sec
J3 Axis 126°/sec
J4 Axis 156°/sec
J5 Axis 145°/sec
J6 Axis 205°/sec
Maximum operating range J1 Axis ±180°
J2 Axis -150°~+85°
J3 Axis -80°~+140°
J4 Axis ±360°
J5 Axis ±120°
J6 Axis ±360°
Maximum activity radius 2440mm
Maximum end load 100Kg
Body weight 约About730Kg
Allowable torque J4 690N ·m
J5 690N ·m
J6 260N ·m
Allowable moment of inertia J4 57kg ·m²
J5 57kg-m²
J6 32kg-m²
Repeatability ±0.1mm
Robot base size 640×650mm
Ambienttemperature 0~45℃
Relative humidity 20~80%RH
Atmospheric pressure 89KPa~106KPa(Altitude below 1000m)
Vibration,impact,collision ≤0.5G
Protectiongrade IP54(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 Smallarm 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) / 5.8×10⁶ 6.7×10⁶ 2.0×10⁷ 2.4×10⁵ 1.3×10⁵
 lyy(Kgmm²) / 1.8×10⁷ 6.5×10⁷ 6.8×10⁶ 2.0×10⁵ 9.9×10⁴
 lz(Kgmm²) / 2.0×10⁷ 6.0×10⁷ 2.3×10⁷ 1.1×10⁵ 8.6×10⁴

 

■ Joint coupling

  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) / 5.8×10⁶ 6.7×10⁶ 2.0×10⁷ 2.4×10⁵ 1.3×10⁵
 lyy(Kgmm²) / 1.8×10⁷ 6.5×10⁷ 6.8×10⁶ 2.0×10⁵ 9.9×10⁴
 lzz(Kgmm²) / 2.0×10⁷ 6.0×10⁷ 2.3×10⁷ 1.1×10⁵ 8.6×10⁴

 

■ Joint coupling

Joint J1-J2 J2-J3 J3-J4 J4-J5 J4-J6 J5-J6
Coupling relationship equation
(Coupling coefficient)
/ / / 80  81  81 

 

■ Reducer parameters

Model 320CA 500D 160D 80D 60D 42D
Reducer reduction ratio 60  52.25  40.25  33  81  81 
Comprehensive reduction ratio 210  209  156  151.41  143.53  102.21 
Rated output speed(r/min) 15  15  15  15  15  15 
Rated torque(N ·m) 3136  4900  1600  784  600  412 
Permissible torque for starting
and stopping (N ·m)
7840  12250  4000  1960  1500  1029 
Instantaneous maximum torque (N ·m) 15680  24500  8000  3920  3000  2058 
Moment rigidity(N ·m) 20580  11000  4000  2150  2000  1660 
Instantaneous maximum torque (N ·m) 39200  22000  8000  4300  4000  3320 

 

■ Motor parameters

Joint J1 J2 J3 J4 J5 J6
Motor model 180  180  180  130  130  130 
Rated power(kW) 5.5  5.5  4.6  2.5  2.5  1.5 
Rated voltage(V) 380 
Rated current(A) 22  22  18  6.9  6.9  4.2 
Rated torque(N·m) 35  35  29.2  7.96  7.96  4.77 
Rated speed(r/min) 1500  1500  1500  3000  3000  3000 
Maximum speed(r/min) 3000  3000  3000  4000  3500  3500 
Rotor inertia(*10e-4kgm²) 68  68  60  18  18  11 
Line back
electromotive force coefficient(V/Krpm)
111  111  111  80  80  80 
Number of pole pairs
Encoder 17 bit multi turn insulationvalue Tamagawa agreement

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