
| Model | R12 | ||
| Degrees of freedom | 6 | ||
| Rated load(kg) | 12 | ||
| Maximum working radius(mm) | 1300 | ||
| Repeatability(mm) | ± 0.03 | ||
| Control bus/frequency | EtherCAT/1KHz | ||
| Maximum speed of the tool end(m/s) | 3 | ||
| Noise(dB) | ≦60 | ||
| Rated power(W) | 550 | ||
| Ambient temperature(℃) | -5~55 | ||
| Working environment humidity | 5%~90%RH,No condensation | ||
| Installation method | Any angle | ||
| Protection grade | IP65 | ||
| Weight(kg)(Excluding cables) | 36 | ||
| Tool Port | I/O Port | 1-24V/1APower;2-DI;2-DO;2-AI | |
| COM Port | 1-24V/1APower;1-RS485;1-EtherCAT | ||
| Joint motion parameters | Maximum range of motion | Maximum speed | |
| The fifirst joint axis-J1 | ±360° | 150°/s | |
| The second joint axis-J2 | ±360° | 150°/s | |
| The third joint axis-J3 | ±165° | 210°/s | |
| The fourth joint axis-J4 | ±360° | 240°/s | |
| The fififth joint axis-J5 | ±360° | 240°/s | |
| The sixth joint axis-J6 | ±360° | 240°/s | |