| HORIZONTAL MULTI-JOINT ROBOT SPECIFICATIONS | |||
| Model | SR-654HSP | ||
| Arm Length | Full Length | 650mm | |
| Axis 1 | 350mm | ||
| Axis 2 | 300mm | ||
| Working | Axis 1 | ±115º | |
| Axis 2 | ±140º | ||
| envelope | Axis 3(Z-axis) | 200mm/(400mm) | |
| Axis 4(Z-axis rotation) | ±280º | ||
| Maximum | Axis 1 | 255º/s | |
| Axis 2 | 432º/s | ||
| speed | Axis 3(Z-axis) | 1000mm/s | |
| Axis 4(Z-axis rotation) | 864º/s | ||
| Composite | 5.15m/s | ||
| Load | Maximum payload mass | 10kg / 22lbs | |
| Allowable momentof inertia at end | 0.0663kgm2 | ||
| Positioning | X,Y(Plane) | ±0.02mm | |
| repeatability | Z-axis(Vertical) | ±0.01mm | |
| Axis 4(Z-axis rotation) | ±0.03º | ||
| Input/output signals for hand | 5 inputs, 4 outputs | ||
| Air piping for hand | |||
| Position detecting system | Absolute system | ||
| Mass of the robot | 60kg | ||
| Controller | SR7000 | ||
