Motoman Robotics Arm

Model

Motoman-ES165D

Type

YR-ES0165D-A00

Controlled Axis

6 (Vertically Articulated)

Payload

165 kg (151.5 kg)^*3

Repeatability*1

+0.2 mm

Range of Motion

S-axis (turning)

+180^o

L-axis (lower arm)

+76^o to -60^o

U-axis (upper arm)

+230^o to -145.5^o

R-axis (wrist roll)

+360^o (+180^o)^*3

B-axis (wrist pitch/yaw)

+130^o (+120^o)^*3

T-axis (wrist twist)

(+360^o (+180^o)^*3

Maximum Speed

S-axis (turning)

1.92 rad/s, 110^o/s

L-axis (lower arm)

1.92 rad/s, 110^o/s

U-axis (upper arm)

1.92 rad/s, 110^o/s

R-axis (wrist roll)

3.05 rad/s, 175^o/s

B-axis (wrist pitch/yaw)

2.62 rad/s, 150^o/s

T-axis (wrist twist)

4.19 rad/s, 240^o/s

Allowable Moment

R-axis (wrist roll)

921 N-m (868 N-m)^*3

B-axis (wrist pitch/yaw)

921 N-m (868 N-m)^*3

T-axis (wrist twist)

490 N-m

Allowable Inertia (GD2/4)

R-axis (wrist roll)

85 kg-m² (83 kg-m²)^*3

B-axis (wrist pitch/yaw)

85 kg-m² (83 kg-m²)^*3

T-axis (wrist twist)

45 kg-m²

Mass

1100 kg-m²

Ambient Conditions

Temperature

0^oC to +45^oC

Humidity

20 to 80% RH (Non-Condensing)

Vibration

4.9 m/s² or less

Others

• Free from corrosive gasses or liquids, or explosive gasses.
• Clean and dry.
• Free from excessive electrical noise (plasma).

Power Requirements*2

5.0 kVA