�| 2�|1 �| Chapter 2.    Standard specifications of the manipulator 2-1.  Fundamental specifications Specifications Item VR-008 VR-006L Type YA-1MMR81Y00 YA-1MMR81Y01 Structure Independent articulated Degree of freedom 6-axis Rotation (RT)
(Referenced from front) �}155�< Upper arm (UA)
(Referenced from vertical) +150�< -100�< Arm  Front arm (FA)
(Referenced from horizontal) +270�< -190�< Rotating (RW) �}270�< (Floor type�j +450�<    -90�<(Ceiling type) Bending (BW)
(Referenced from front arm) +100�< -150�< Wrist Twisting (TW) �}400�< Section area of arm motion 4.47m²  �~ 310�< 5.79m²  �~ 310�< Distance     of     forward/backward     arm
motion (from the center of RT-axis to the
center of BW-axis.) +1,482 to -1,172 mm +1,680 to –1,370 mm Distance of vertical arm motion (from the
lower surface of the robot to the center
of BW-axis.) +1,747 to -824 mm +1,945 to –1,022 mm Rotation (RT) 2.09 rad/s (120�</s) Upper arm (UA) 2.09 rad/s (120�</s) Arm Front arm (FA) 2.09 rad/s (120�</s) Rotating (RW) 5.23 rad/s (300�</s) Bending (BW) 5.23 rad/s (300�</s) Wrist Twisting (TW) 6.54 rad/s (375�</s) Maximum allowable payload 8 kg 6 kg Rotating (RW) 23.5 N m    (2.4 kgf m) 17.6N m     (1.8 kgf m) Bending (BW) 23.5 N m    (2.4 kgf m) 17.6 N m    (1.8 kgf m) Moment Twisting (TW) 11.8 N m     (1.2 kgf m) 8.8 N m (0.9 kgf m) Rotating (RW)     0.72 kg m²
(0.074 kgf m s²)     0.54 kg m²
(0.055 kgf m s²) Bending (BW)     0.72 kg m²
(0.074 kgf m s²)     0.54 kg m²
(0.055 kgf m s²) Inertia Twisting (TW)     0.18 kg m²
(0.018 kgf m s²)     0.14 kg m²
(0.014 kgf m s²)

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