MOTOMAN-MH, HP, and UP Series

Transcription

1 Multi-Purpose obot MOOMN-MH, HP, and P eries ertified for IO9 and IO4 QM ccreditation 9 JQ-83 JQ-EM94

2 otal olutions to chieve hort Processing he Highest Potential in the World! complete lineup to help build optimum facilities. Hardware ave pace Energy he slimmer structure, new features, and high performance enable you to downsize production facilities and save energy. Manipulator est Performance in its class he highest speed in the world has been achieved by using high-speed, low-inertia servomotors and state-of-the-art control technology. slimmer robot form has also been developed, while wrist allowable inertia has been increased. pplicable in evere Environments he waterproof and dustproof structure (IP7 class level) at the wrist part enables the robot to operate in environments subject to water drops and dust. : vailable as an option for MH5, MH5, MH, and MH. (kg) pplications reach 5 kg 7 mm MH5 5 kg 895 mm kg 997 mm kg 77mm kg 4 mm 5 kg 54 mm 35 kg 54 mm 8 kg mm kg 95 mm DX ontroller 5 kg 7 mm 5 kg mm Installation space for the control panel is reduced by 4%. kg max. Handling of small to large workpieces, assembly, machine tending 3, arc welding, spot welding, sealing and glue application, cutting workpieces, etc MH MH5 ine-up of Multi-purpose obot MH HPD P35D-5 MH8 MH5 HPD- P35D MH5 MH5 5 kg 5 mm slim design with a control panel width of only 45 mm reduces the installation space by up to 4%. p to 7 axes (8 robots) can be controlled by installing the additional OX. : ompared to conventional large-sized controllers kg 3 mm 4 kg 358 mm 5 kg 9 mm 3 4 reach (mm) MH5 P4D 3 : oading and unloading for N machine tools, diecasting, bending, injection molding presses, etc. MH5-

3 hort processing Increased freedom in operation or compact and slim design have made the new robots more optimized for specific applications. High-density installation has contributed customers production line to saving space. he facility which enables integrated process, rapid production and saving space is called short processing. New robot solutions limmer design enables closer mounting. maller ontroller saves space. Multiple obot ontroller prevents robots from collisions. Installation space reduced by safety function (restricting the range of obot operation). hort process horter production lines. educed number of processes. ustomer advantages Highly efficient production. etter quality. aving energy. oftware No Deviation from rack at Emergency top he obot stops on the taught path at emergency stop and will not deviate from the path when restarting, preventing interference of the obot with nearby obstacles. No path errors even at restart. Playback path confirmation he playback path mode during a test operation can be confirmed by a low speed test operation. his has mode the teaching operation with the optimum path in minimal time possible while verifying the existence of interference with workpieces or jigs. Emergency stop position eaching point 3 Playback path confirm at low speed Operating direction eaching point eaching point 4 eaching point 5 Interference hecking Function 4 Optional eaching point Interference between the arms of densely installed obots can be constantly monitored to automatically stop movement if a collision is likely to occur. (his prevents collisions between obots caused by programming mistakes.) onstantly checks the interference between the robot arm and up to defined cubes to prevent the robot to collide with workpieces or peripheral jigs. (ee the figure at right for reference.) 4 : ontact the Yaskawa sales department about manipulator models that support this function. ube interference zone ube interference zone Minimized afety arrier 5 Optional aving Energy he functional safety unit, which is configured with the redundant Ps, minimizes the area within the safety barrier by restricting the robot s operating area. afety barrier can be limited to only a minimum area to downsize production facilities. Zone limit switches can be eliminated for obots in setting process. afety arrier Previous safety barrier Minimized safety barrier onditions wenty-four-hour operation in which the obot is operating for hours and on standby for 8 hours obot operation control Operating status Motor outputs rake he servos are turned OFF automatically when the obot is stopped for a long period of time. educed power consumption helps lower running costs. imer On standby until next command Motor outputs are shut off and brakes applied while the obot is on standby. rakes are applied at a fixed time intervals after the standby status starts. Energy savings: pprox.5% 5 : ontact the Yaskawa sales department about manipulator models that support this function. 3

4 otal olutions to chieve hort Processing Easy Operation imulation Operability of teaching and simulation have been improved to reduce time required for system startup. Multi-window Display Function MotoimEG-V imulator Optional Program operation can be checked while monitoring I/O or variables on the programming pendant so that teaching and trial operation efficiency will increase. he imulator has evolved from merely simulating obot operation to a Virtual ontroller that reproduces the functions, operations, and displays of the actual obot. Easy simulation is possible by anyone with an understanding of obot operation. Quick Maintenance roubleshooting MOOMN continually strives to improve monitoring, troubleshooting, and structures to reduce maintenance and recovery time from failures. roubleshooting When an alarm occurs, the detail, cause, and countermeasure of the error are displayed on the Programming Pendant to provide measures for troubleshooting. educed eplacement ime for Parts We have reduced the time required to replace ontroller parts to shorten recovery time when troubles do occur. (equired time for replacement: from to 8 minutes: reduced by %) he encoder can be replaced with standard tools since it employs a unit style and thus the required time for replacement is reduced. n optional zeroing function can be used to accurately and quickly reset the home position after replacing the motor or encoder. Error ause ountermeasure 4

5 MOOMN-XX3 MOOMN-MH5 5 kg payload, 7 mm maximum reach DX F Dimensions nits : mm apped holes M8 (4 holes) (Depth: ) (Pitch:.5) apped holes M4 (4 holes) (Depth: 8) (Pitch:.7) apped holes M5 (4 holes) (Depth: 9) (Pitch:.8) apped holes M4 ( holes) (Depth: 8) (Pitch:.7) ϕ dia (fitting depth) +. 5 dia. ( hole) (Depth: 7) View H--P (73) H-P- HIOE (provided by users) dia. ( hole) ir inlet apped holes P/4 () +. dia. ( holes) ± ±. View ±. 9±. 9±. ± dia. (4 holes) (Mounting Holes) 5 ±.5 4 View Manipulator pecifications MOOMN-MH5 3 Y-MH5-4 ontrolled xis 5 kg epeatability ±. mm peed rad/s, 37 /s. rad/s, 35 /s.98 rad/s, 4 /s 7.85 rad/s, 45 /s 7.85 rad/s, 45 /s.57 rad/s, 7 /s N m N m 7 N m.3 kg m Inertia.3 kg m (GD /4). kg m 7 kg to +45 to 8%H (non-condensing) 4.9 m/s or less Power equirements. kv : onforms to IO 983. : Varies in accordance with applications and motion patterns. 3 : MOOMN-MH5F when using a F controller. 4 : Y-MH5F- when using a F controller. Note : I units are used for specifications. 5

6 MOOMN-MH5 5 kg payload, 895 mm maximum reach DX F Dimensions nits : mm apped holes M8 (4 holes) (Depth: ) (Pitch:.5) apped holes M4 ( holes) (Depth: 8) (Pitch:.7) apped holes M5 (4 holes) (Depth: 9) (Pitch:.8) ϕ apped holes M4 (4 holes) (Depth: 8) (Pitch:.7) dia (fitting depth) View +. 5 dia. ( hole) (Depth: 7) H--P (73) H-P- HIOE (provided by users) View +. dia. ( holes) ±. ir inlet apped holes P/4 () 85±. ±. 9±. 9±. 94 ± dia. ( hole) 94 dia. (4 holes) (Mounting Holes) 5 ±.5 43 View Manipulator pecifications MOOMN-MH5 3 Y-MH5-4 ontrolled xis 5 kg epeatability ±.3 mm peed rad/s, 7 /s 4.89 rad/s, 8 /s 5.4 rad/s, 3 /s 7.85 rad/s, 45 /s 7.85 rad/s, 45 /s.57 rad/s, 7 /s N m N m 7 N m.3 kg m Inertia.3 kg m (GD /4). kg m 9 kg to +45 to 8%H (non-condensing) 4.9 m/s or less Power equirements. kv : onforms to IO 983. : Varies in accordance with applications and motion patterns. 3 : MOOMN-MH5F when using a F controller. 4 : Y-MH5F- when using a F controller. Note : I units are used for specifications.

7 MOOMN-MH kg payload, 4 mm maximum reach DX F Dimensions nits : mm dia dia apped holes M (4 holes) (Depth: 9) (Pitch:.) 38 7 ϕ dia. ( hole) (Depth: ) View ir inlet P3/8 () 7 ir inlet P3/8 () Welding power source s terminal block (with cover) over type is V--4 J5--9P (with cap) J5--9 (provided by users) View dia. (4 holes) 3 9 3±. dia. ( holes) +.8 ±. 53± dia. ( hole) +.8 ±. 3±. ±. 53±. 3±. Manipulator pecifications MOOMN-MH 3 Y-MH- 4 ontrolled xis kg epeatability ±.8 mm peed rad/s, /s 3.49 rad/s, /s 3.84 rad/s, /s 7. rad/s, 4 /s 7. rad/s, 4 /s.5 rad/s, /s View.8 N m 9.8 N m 5.9 N m.7 kg m Inertia.7 kg m (GD /4). kg m 3 kg to +45 to 8%H (non-condensing) 4.9 m/s or less Power equirements.5 kv : onforms to IO 983. : Varies in accordance with applications and motion patterns. 3 : MOOMN-MHF when using a F controller. 4 : Y-MHF- when using a F controller. Note : I units are used for specifications. 7

8 MOOMN-MH kg payload, 997 mm maximum reach DX Dimensions nits : mm dia. 5 dia.. 45 apped holes M (4 holes) (Depth: 9) (Pitch:.) 7 J5--9 (with cap) J5--9P (provided by users) ir exhaust P3/8 +. dia. ( hole) (Depth: 9) View P..D.4 ir inlet P3/ J5--9P (with cap) J5--9 (provided by users) 4 8 dia. (4 holes) View 3 3±. ±. 53± dia. ( hole) 3±. 3. ±. ±. 53±. dia. ( holes) +.8 View Manipulator pecifications ontrolled xis epeatability peed MOOMN-MH Y-MH- kg ±.8 mm rad/s, /s 3.84 rad/s, /s 3.84 rad/s, /s 7. rad/s, 4 /s 7. rad/s, 4 /s.5 rad/s, /s.8 N m 9.8 N m 5.9 N m.7 kg m Inertia.7 kg m (GD /4). kg m kg to +45 to 8%H (non-condensing) 4.9 m/s or less Power equirements.5 kv : onforms to IO 983. : Varies in accordance with applications and motion patterns. Note : I units are used for specifications. 8

9 MOOMN-HPD kg payload, 77 mm maximum reach DX F Dimensions nits : mm dia dia apped holes M (4 holes) (Depth: ) (Pitch:.) dia. ( hole) (Depth: ) View ir inlet P3/8 ϕ J5--9P (with cap) J5--9 (provided by users) 33 8 dia. (4 holes) dia. ( holes) View 7± View ± ±. 559 Note : he P-point cannot reach the shaded area when the -axis is between 4 and axis (N m) moment of inertia for the -axis (alculated from axial center of rotation on flange.) axis allowable moment of inertia GD /4 (kg m ) Manipulator pecifications MOOMN-HPD 3 Y-HPD- 4 ontrolled xis kg epeatability ±. mm peed rad/s, 97 /s 3.5 rad/s, 75 /s 3.58 rad/s, 5 /s.98 rad/s, 4 /s.98 rad/s, 4 /s.47 rad/s, /s 39. N m 39. N m 9. N m.5 kg m Inertia.5 kg m (GD /4).75 kg m (only for downward movements) 5 8 kg to +45 to 8%H (non-condensing) 4.9 m/s or less Power equirements. kv : onforms to IO 983. : Varies in accordance with applications and motion patterns. 3 : MOOMN-HPF when using a F controller. 4 : Y-HPF- when using a F controller. 5 : For more information, refer to the line graph showing the allowable moment of inertia on this page. : he power requirement is.5 kv when using a F controller. Note : I units are used for specifications. 9

10 MOOMN-HPD- kg payload, 95 mm maximum reach DX Dimensions nits : mm apped holes M (4 holes) (Depth: ) (Pitch:.) dia. ϕ dia dia. ( hole) (Depth: ) ir inlet P3/ J5--9P (with cap) J5--9 (provided by users) 33 8 dia. (4 holes) ± View View ± dia. ( holes) 7±. View ±. Manipulator pecifications ontrolled xis epeatability peed MOOMN-HPD- Y-HPD- kg ±. mm rad/s, 97 /s 3.5 rad/s, 75 /s 3. rad/s, 87 /s.98 rad/s, 4 /s.98 rad/s, 4 /s.47 rad/s, /s.8 N m 9.8 N m 5.9 N m.4 kg m Inertia.7 kg m (GD /4). kg m 73 kg to +45 to 8%H (non-condensing) 4.9 m/s or less Power equirements. kv : onforms to IO 983. : Varies in accordance with applications and motion patterns. Note : I units are used for specifications. he -axis is at the home position when it is moved downward into the position where it is perpendicular to the floor at the level shown in the drawing on this page.

11 MOOMN-MH5 5 kg payload, mm maximum reach DX F Dimensions nits : mm dia. +. dia. ( hole) (Depth: ) apped holes M8 (4 holes) (Depth: ) (Pitch:.5).5 dia ϕ8 (NDD) 8 (ZEOING) apped holes M8 ( holes) (Depth: 4) (Pitch:.5) dia. ( hole) (Depth: 4) 8 View 45 J5-4-8 (with cap) J5-4-8P (provided by users) ir inlet P3/ apped holes M (4 holes) (Depth: ) (Pitch:.75) ir exhaust P3/ J5-4-8P (with cap) J5-4-8 (provided by users) 95±. 3± ±. 53 View +.8 dia. ( holes) 95±. dia. (8 holes) ±. 3± View Manipulator pecifications ontrolled xis epeatability peed MOOMN-MH5 Y-MH5-5 kg ±.7 mm rad/s, 8 /s 3. rad/s, 78 /s 3. rad/s, 78 /s 4.3 rad/s, 5 /s 4.3 rad/s, 5 /s.8 rad/s, 3 /s N m N m 47 N m 8 kg m Inertia 8 kg m (GD /4) kg m 55 kg to +45 to 8%H (non-condensing) 4.9 m/s or less Power equirements 4. kv : onforms to IO 983. : Varies in accordance with applications and motion patterns. Note : I units are used for specifications.

12 MOOMN-MH5- kg payload, 3 mm maximum reach DX Dimensions nits : mm P..D apped holes M8 (4 holes) (Depth: 5) (Pitch:.5) apped holes M8 (4 holes) (Depth: ) (Pitch:.5) 5 apped holes M (4 holes) (Depth: ) (Pitch:.75) dia. +. J5-4-8 (with cap) J5-4-8P (provided by users) ±. 3±. 5 dia..39 ir Outlet P3/8 apped with plug +. dia. ( hole) (Depth: ) View View View 95± ±. 3± apped holes M (4 holes) (Depth: ) (Pitch:.) ir inlet P3/8 J5-4-8P (with cap) J5-4-8 (provided by users) +.8 dia. ( holes) 95±. dia. (8 holes) Manipulator pecifications ontrolled xis epeatability peed MOOMN-MH5- Y-MH5- kg ±.5 mm rad/s, 8 /s 3. rad/s, 78 /s 3. rad/s, 78 /s.98 rad/s, 4 /s.98 rad/s, 4 /s.47 rad/s, /s 39. N m 39. N m 9. N m.5 kg m Inertia.5 kg m (GD /4).75 kg m 495 kg to +45 to 8%H (non-condensing) 4.9 m/s or less Power equirements 3.5 kv : onforms to IO 983. : Varies in accordance with applications and motion patterns. Note : I units are used for specifications.

13 MOOMN-MH8 8 kg payload, mm maximum reach DX F Dimensions nits : mm apped holes M8 (4 holes) (Depth: ) (Pitch:.5) dia. +.5 dia ϕ8 +. dia. ( hole) (Depth: ) apped holes M8 ( holes) (Depth: 4) +.5 (Pitch:.5) 8 dia. ( hole) (Depth: 4) apped holes M (4 holes) (Depth: ) (Pitch:.75) J5-4-8 (with cap) J5-4-8P (provided by users) 99 5 ir exhaust P3/8 34 3±. View 95±. ir inlet P3/8 J5-4-8P (with cap) J5-4-8 (provided by users) View dia. ( holes) +.8 dia. (8 holes) ± ± ±. 3±. View Manipulator pecifications ontrolled xis epeatability peed MOOMN-MH8 Y-MH8-8 kg ±.7 mm rad/s, 7 /s.44 rad/s, 4 /s.79 rad/s, /s 4. rad/s, 3 /s 4. rad/s, 3 /s. rad/s, 35 /s 39 N m 39 N m 9 N m 8 kg m Inertia 8 kg m (GD /4) kg m 555 kg to +45 to 8%H (non-condensing) 4.9 m/s or less Power equirements 4.5 kv : onforms to IO 983. : Varies in accordance with applications and motion patterns. Note : I units are used for specifications. 3

14 MOOMN-MH5 5 kg payload, 5 mm maximum reach DX F Dimensions nits : mm apped holes M8 (4 holes) (Depth: 5) apped holes M5 ( holes) (Depth: ) apped holes M ( holes) (Depth: ) apped holes M8 (4 holes) (Depth: 5) dia. dia..5 P..D.9 apped holes M ( holes) (Depth: ) P..D.5 apped holes M ( holes) (Depth: ) dia. +.5 ( holes) (Depth: 8) dia. ( holes) (Depth: 8) View J5-4-8P (with cap) J5-4-8 (provided by users) ir () inlet P3/ apped holes M (4 holes) (Depth: 4) dia. ( holes) 9±. 4 9± ir () inlet P3/8 View 9±. 9±. 35±. 9±. 9±. 353±. dia. (8 holes) dia. ( holes) View Manipulator pecifications ontrolled xis epeatability peed MOOMN-MH5 Y-MH5-5 kg ±. mm rad/s, /s.9 rad/s, /s.9 rad/s, /s 3.5 rad/s, 75 /s. rad/s, 5 /s 4.9 rad/s, 4 /s 9 N m 9 N m 49 N m 85 kg m Inertia 85 kg m (GD /4) 45 kg m kg to +45 to 8%H (non-condensing) 4.9 m/s or less Power equirements 5. kv : onforms to IO 983. : Varies in accordance with applications and motion patterns. Note : I units are used for specifications. 4

15 MOOMN-MH5 5 kg payload, 9 mm maximum reach DX F Dimensions nits : mm apped holes M8 (4 holes) (Depth: 5) apped holes M5 ( holes) (Depth: ) apped holes M ( holes) (Depth: ) apped holes M8 (4 holes) (Depth: 5) dia dia..5 P..D.9 apped holes M ( holes) (Depth: ) P..D.5 apped holes M ( holes) (Depth: ) dia. +.5 dia. ( holes) (Depth: 8) ( holes) (Depth: 8) View I/O wiring harness (ase side): J5-4-8P (with cap) J5-4-8 (provided by users) apped holes M (4 holes) (Depth: 4) ir () inlet P3/8 dia. 893 ( holes) 4 9±. 9± View ir () inlet P3/8 9±. 9±. 35±. +. 9±. 9±. 353±. dia. dia. (8 holes) ( holes) View +.8 Manipulator pecifications ontrolled xis epeatability peed MOOMN-MH5 Y-MH5-5 kg ±. mm rad/s, /s.57 rad/s, 9 /s.9 rad/s, 97 /s.9 rad/s, /s.9 rad/s, /s 3.3 rad/s, 9 /s 7 N m 7 N m 7 N m 37 kg m Inertia 37 kg m (GD /4) kg m 4 kg to +45 to 8%H (non-condensing) 4.9 m/s or less Power equirements. kv : onforms to IO 983. : Varies in accordance with applications and motion patterns. Note : I units are used for specifications. 5

16 MOOMN-MH5 5 kg payload, 7 mm maximum reach DX F Dimensions nits : mm apped holes M8 (4 holes) (Depth: 5) apped holes M5 ( holes) (Depth: ) 7 7 apped holes M ( holes) (Depth: ) apped holes M8 (4 holes) (Depth: 5) dia dia..5 P..D dia. ( holes) (Depth: 8) apped holes M ( holes) (Depth: ) P..D.5 apped holes M ( holes) (Depth: ) dia. ( holes) (Depth: 8) View I/O wiring harness (ase side): J5-4-8P (with cap) J5-4-8 (provided by users) ir () inlet P3/ apped holes M (4 holes) (Depth: 4) ±. 9±. 54 dia. ( holes) ±. 8- ϕ View 353±. View ir () inlet P3/8 9±. 35±. 9±. 9±. dia. ( holes) Manipulator pecifications ontrolled xis epeatability peed MOOMN-MH5 Y-MH5-5 kg ±. mm rad/s, /s.57 rad/s, 9 /s.9 rad/s, 97 /s.9 rad/s, /s.9 rad/s, /s 3.3 rad/s, 9 /s 385 N m 385 N m 735 N m 37 kg m Inertia 37 kg m (GD /4) kg m 3 kg to +45 to 8%H (non-condensing) 4.9 m/s or less Power equirements. kv : onforms to IO 983. : Varies in accordance with applications and motion patterns. Note : I units are used for specifications.

17 MOOMN-P35D 35 kg payload, 54 mm maximum reach DX Dimensions nits : mm 8 apped holes M (4 holes) (Pitch:.5) apped holes M (8 holes) (Depth: ) (Pitch:.5) dia. +.8 Elliptic hole 5 dia..7 8 P..D. View apped holes M ( holes) (Pitch:.75) 3 4 dia. (8 holes) P..D.5 dia. ( hole) +.8 J5--4 (with cap) J5--4P (provided by users) J5--4P (with cap) J5--4 (provided by users) ir outlet P3/8 tapped with plug apped holes M (4 holes) (Depth: ) (Pitch:.5) apped holes M (4 holes) (Pitch:.5) ir inlet P3/8 tapped with plug ± dia. ( holes) 8 dia. (8 holes) 355±.3 4 View ± ±.3 View Manipulator pecifications ontrolled xis epeatability peed MOOMN-P35D Y-P35D- 35 kg ±.5 mm rad/s, 95 /s. rad/s, 95 /s. rad/s, 95 /s.75 rad/s, /s.75 rad/s, /s.79 rad/s, /s 9 N m 9 N m 83 N m 5 kg m Inertia 5 kg m (GD /4) 9 kg m kg to +45 to 8%H (non-condensing) 4.9 m/s or less Power equirements 5.5 kv : onforms to IO 983. : Varies in accordance with applications and motion patterns. Note : I units are used for specifications. 7

18 989 5 apped holes M (4 holes) (Pitch:.5) apped holes M (8 holes) (Depth: ) (Pitch:.5) Elliptic hole 8 P..D. apped holes M ( holes) (Pitch:.75) 4 dia. (8 holes) 3 P..D.5 dia. ( hole) +.8 J5--4 (with cap) J5--4P (provided by users) ir outlet P3/8 tapped with plug apped holes M (4 holes) (Depth: ) (Pitch:.5) ± dia. ( holes) MOOMN-P35D-5 5 kg payload, 54 mm maximum reach DX Dimensions nits : mm +.3 dia. 5 dia..7 View J5--4P (with cap) J5--4 (provided by users) ir inlet P3/8 tapped with plug apped holes M (4 holes) (Pitch:.5) 8 dia. (8 holes) 355±.3 4 View 3± ±.3 View Manipulator pecifications ontrolled xis epeatability peed MOOMN-P35D-5 Y-P35D- 5 kg ±.5 mm rad/s, 8 /s.4 rad/s, 8 /s.4 rad/s, 8 /s.75 rad/s, /s.75 rad/s, /s.79 rad/s, /s 9 N m 9 N m 83 N m 5 kg m Inertia 5 kg m (GD /4) 9 kg m 35 kg to +45 to 8%H (non-condensing) 4.9 m/s or less Power equirements 5.5 kv : onforms to IO 983. : Varies in accordance with applications and motion patterns. Note : I units are used for specifications. 8

19 MOOMN-P4D 4 kg payload, 358 mm maximum reach DX Dimensions nits : mm dia. (8 holes) 358 P..D.5 P..D dia. (Depth: ) apped holes M ( holes) (Depth: ) View 5 ir () inlet P3/8 ir () inlet P3/ apped holes M8 ( holes) (Depth: 5) apped hole M8 ( hole) (Depth: 5) 7 8 apped holes M8 (4 holes) (Depth: 5) apped holes M8 (4 holes) (Depth: 5) I/O wiring harness (ase side): J5-8-P (with cap) J5-8- (provided by users) 4± ±. 35±. View 4± View 8 dia. ( holes) 435±. dia. ( holes) 35±. +.8 Manipulator pecifications ontrolled xis epeatability peed MOOMN-P4D Y-P4D- 4 kg ±.5 mm rad/s, 8 /s.4 rad/s, 8 /s.4 rad/s, 8 /s.4 rad/s, 8 /s.4 rad/s, 8 /s.79 rad/s, /s 9 N m 9 N m 833 N m 5 kg m Inertia 5 kg m (GD /4) 5 kg m 3 kg to +45 to 8%H (non-condensing) 4.9 m/s or less Power equirements 8.5 kv : onforms to IO 983. : Varies in accordance with applications and motion patterns. Note : I units are used for specifications. 9