Robot operating space
A0509
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A0509S
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A0912
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A0912S
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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.
A0509
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A0912
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Allowed Moment and Inertia
The allowed moment and inertia of the robot's J4-J6 are as follows:
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Model Name |
J4 |
J5 |
J6 |
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|---|---|---|---|---|---|---|
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Allowed Moment |
Inertia |
Allowed Moment |
Inertia |
Allowed Moment |
Inertia |
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A0509 |
50 Nm |
0.69 kg㎡ |
50 Nm |
0.69 kg㎡ |
50 Nm |
0.69 kg㎡ |
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A0912 |
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A0509s |
11 Nm |
0.15 kg㎡ |
11 Nm |
0.15 kg㎡ |
11 Nm |
0.15 kg㎡ |
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A0912s |
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Tool Center Point (TCP)
Refer to the figure below for TCP.
Basic specifications
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Model Name |
A0509 |
A0509S* |
A0912 |
A0912S* |
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|---|---|---|---|---|---|---|
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Weight |
21 kg |
31 kg |
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Payload within Work Radius |
5 kg |
9 kg |
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Max. Work Radius |
900 mm |
903 mm |
1200 mm |
1203 mm |
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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 |
±0.05 mm |
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Protection Rating |
IP 54 |
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Noise |
< 65 dB |
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Installation Direction |
Any Orientation |
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Controller and Teaching Pendant |
Doosan Controller, DART Platform, Smart Pendant (Option) |
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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 |
-5 ℃ ~ 45 ℃ (268K to 318K) |
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Storage Temperature |
-5 ℃ ~ 50 ℃ (268K to 323K) |
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Humidity |
90% RH (non-condensing) |
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S*, This is the model with an integrated Force Torque Sensor, so make sure to check the FTS Specification.
Axis Specifications
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Model Name |
A0509 |
A0509S |
A0912 |
A0912S |
|---|---|---|---|---|
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Operating Angle |
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J1 |
±360° |
±360° |
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J2 |
±360° |
±360° |
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J3 |
±160° |
±160° |
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J4 |
±360° |
±360° |
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J5 |
±360° |
±360° |
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J6 |
±360° |
±360° |
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Max. Speed per Axis (rated payload operation) |
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J1 |
180 °/s |
180 °/s |
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J2 |
180 °/s |
180 °/s |
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J3 |
180 °/s |
180 °/s |
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J4 |
360 °/s |
360 °/s |
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J5 |
360 °/s |
360 °/s |
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J6 |
360 °/s |
360 °/s |
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