Robot operating space
M0609
|
|
M0617
|
|
M1013
|
|
M1509
|
|
H2017
|
|
H2515
|
|
Max. Payload within operating space
The maximum payload of the robot within its operating space changes according to the distance from the center of gravity. Payload per distance is as follows:
Note
This load diagram assumes a small tool load volume. Tools with a larger volume will have greater limitations in payload above the tool’s center of gravity compared to a tool with an equal weight but smaller volume, and in such cases, vibration may occur.
M0609
|
M0609
|
M1013
|
M1509
|
H2017
|
H2515
|
Allowed Moment and Inertia
The allowed moment and inertia of the robot's J4-J6 are as follows:
|
Model Name |
J4 |
J5 |
J6 |
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|---|---|---|---|---|---|---|
|
Allowed Moment |
Inertia |
Allowed Moment |
Inertia |
Allowed Moment |
Inertia |
|
|
M0609 |
36 Nm |
1.6 kg㎡ |
36 Nm |
1.6 kg㎡ |
36 Nm |
1.6 kg㎡ |
|
M0617 |
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|
M1013 |
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|
M1509 |
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|
H2017 |
145 Nm |
8.0 kg㎡ |
81 Nm |
4.5 kg㎡ |
36 Nm |
2.0 kg㎡ |
|
H2515 |
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Tool Center Point (TCP)
Refer to the figure below for TCP.
Basic specifications
|
Model Name |
M0609 |
M0617 |
M1013 |
M1509 |
H2017 |
H2515 |
|
|---|---|---|---|---|---|---|---|
|
Weight |
27 kg |
34 kg |
33 kg |
32 kg |
79 kg |
77 kg |
|
|
Payload within Work Radius |
6 kg |
6 kg |
10 kg |
15 kg |
20 kg |
25 kg |
|
|
Max. Work Radius |
900 mm |
1700 mm |
1300 mm |
900 mm |
1700 mm |
1500 mm |
|
|
Number of Axes |
6 |
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Max. TCP Speed |
Over 1 m/s |
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Position Repeatability (ISO 9283) |
±0.03 mm |
±0.1 mm |
±0.05 mm |
±0.03 mm |
±0.1 mm |
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|
Protection Rating |
IP 54 |
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Noise |
< 65 dB |
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Installation Direction |
Any Orientation |
Floor Only |
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Controller and Teaching Pendant |
Doosan Controller & Teach Pendant |
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Vibration and Acceleration |
10≤f<57㎐ - 0.075mm amplitude 57≤f≤150㎐ – 1G |
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Impact |
Max Amplitude : 50㎨(5G)
|
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Operating Temperature |
0 ℃ ~45 ℃ (273K to 318K) |
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Storage Temperature |
-5 ℃ ~50 ℃ (268K to 323K) |
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Humidity |
20% ~ 80% |
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Axis Specifications
|
Model Name |
M0609 |
M0617 |
M1013 |
M1509 |
H2017 |
H2515 |
|---|---|---|---|---|---|---|
|
Operating Angle |
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|
J1 |
±360° (TP:±360°) |
±360° (TP:±360°) |
±360° (TP:±360°) |
±360° (TP:±360°) |
±360° (TP:±360°) |
±360° (TP:±360°) |
|
J2 |
±360° (TP:±95°) |
±360° (TP:±95°) |
±360° (TP:±95°) |
±360° (TP:±95°) |
±125° (TP:±95°) |
±125° (TP:±95°) |
|
J3 |
±150° (TP:±125°) |
±165° (TP:±145°) |
±160° (TP:±135°) |
±150° (TP:±125°) |
±160° (TP:±135°) |
±160° (TP:±135°) |
|
J4 |
±360° (TP:±360°) |
±360° (TP:±360°) |
±360° (TP:±360°) |
±360° (TP:±360°) |
±360° (TP:±360°) |
±360° (TP:±360°) |
|
J5 |
±360° (TP:±135°) |
±360° (TP:±135°) |
±360° (TP:±135°) |
±360° (TP:±135°) |
±360° (TP:±135°) |
±360° (TP:±135°) |
|
J6 |
±360° (TP:±360°) |
±360° (TP:±360°) |
±360° (TP:±360°) |
±360° (TP:±360°) |
±360° (TP:±360°) |
±360° (TP:±360°) |
|
Max. Speed per Axis (rated payload operation) |
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|
J1 |
150 °/s |
100 °/s |
120 °/s |
150 °/s |
100 °/s |
100 °/s |
|
J2 |
150 °/s |
100 °/s |
120 °/s |
150 °/s |
80 °/s |
80 °/s |
|
J3 |
180 °/s |
150 °/s |
180 °/s |
180 °/s |
100 °/s |
100 °/s |
|
J4 |
225 °/s |
225 °/s |
225 °/s |
225 °/s |
180 °/s |
180 °/s |
|
J5 |
225 °/s |
225 °/s |
225 °/s |
225 °/s |
180 °/s |
180 °/s |
|
J6 |
225 °/s |
225 °/s |
225 °/s |
225 °/s |
180 °/s |
180 °/s |