Articulated robot MOTOMAN-HD7

6-axisfloor-mountedceiling-mounted

Product overview
Designed for hygienic environments, this robot supports cleanroom integration and improved cleanability.

Main features

• Compatible with ISO 14644-1 cleanroom classes 4 (HD8) and 5 (HD7)
• All axes equivalent to IP69 with a special coating resistant to H2O2 and other cleaning agents (specified cleaning fluids listed in the product specification and user manual)
• Uses FDA-approved food machinery grease
• Smooth surfaces for easy cleaning and reduced dirt accumulation
• Axle sealing design and materials compliant with EHEDG recommendations

Notes
*1: Specified cleaning fluids are listed in the product specification and user manual.
*2: Information regarding FDA (U.S. Food and Drug Administration) certification.
*3: Information regarding EHEDG (European Hygienic Engineering and Design Group) recommendations.

Specifications
Name: MOTOMAN-HD7
Model: YR-1-06VXM7-A01
Structure: Vertical articulated (6 degrees of freedom)
Payload: 7 kg
Maximum reach: 927 mm
Position repeatability: 0.02 mm (JIS B 8432)
Motion range: S axis (rotation) -180° to +180° / L axis (lower arm) -65° to +145° / U axis (upper arm) -70° to +190° / R axis (wrist rotation) -190° to +190° / B axis (wrist bend) -135° to +135° / T axis (wrist twist) -360° to +360°
Maximum speed: S axis 6.54 rad/s (375°/s) / L axis 5.50 rad/s (315°/s) / U axis 7.15 rad/s (410°/s) / R axis 9.59 rad/s (550°/s) / B axis 9.59 rad/s (550°/s) / T axis 17.45 rad/s (1000°/s)
Allowable moment: R axis 17 N·m / B axis 17 N·m / T axis 10 N·m
Allowable inertia (GD^2/4): R axis 0.5 kg·m^2 / B axis 0.5 kg·m^2 / T axis 0.2 kg·m^2
Robot mass: 47 kg
Cleanliness: ISO class 5, GMP grade A compliant design (based on measurements by Fraunhofer IPA)
Protection rating: IP69 (note: not applicable to areas below the robot mounting surface)
Installation environment: Temperature 0 °C to +45 °C / Humidity 20% to 80% RH (no condensation) / Vibration acceleration up to 4.9 m/s^2 (0.5 G) / Altitude up to 1000 m
Power capacity: 1.0 kVA (value depends on measurement conditions, varies with load and motion patterns)
Installation method: Floor, ceiling suspension, wall mount, inclined (S-axis motion range may be limited for wall-mount or inclined installations)
Applicable controllers: YRC1000, YRC1000micro

Features / technical specifications (excerpt)

• Payload: 7 kg
• Maximum reach: 927 mm
• Position repeatability: 0.02 mm
• Motion range (by axis): S -180° to +180°, L -65° to +145°, U -70° to +190°, R -190° to +190°, B -135° to +135°, T -360° to +360°
• Maximum speed (by axis): S 6.54 rad/s (375°/s), L 5.50 rad/s (315°/s), U 7.15 rad/s (410°/s), R/B 9.59 rad/s (550°/s), T 17.45 rad/s (1000°/s)
• Robot mass: 47 kg
• Cleanliness: Equivalent to ISO class 5 (GMP grade A compliant design)
• Protection rating: IP69 equivalent (all axes)
• Power capacity: 1.0 kVA
• Installation methods: Floor, ceiling, wall, inclined
• Applicable controllers: YRC1000 / YRC1000micro