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| Name MOTOMAN-MA1440 | Name MOTOMAN-MA1440 | |
| Type YR-MAO1440-A00 | Type YR-MAO1440-A00 | |
| Structure Vertical multi-joint type (6 degrees of freedom) | Structure Vertical multi-joint type (6 degrees of freedom) | |
| Load 6kg | Load 6kg | |
| Repeat positioning accuracy *1 | ±0.08mm | |
| Movement range S axis (rotation) L axis (lower arm) U axis (upper arm) R axis (wrist rotation) B axis (wrist swing) T axis (wrist rotation) |
Movement range S axis (rotation) | ±170° |
| L axis (lower arm) | +155°~ -90° | |
| U axis (upper arm) | +240°~ -175° | |
| R axis (wrist rotation) | ±150° | |
| B axis (wrist swing) | +90°~-135° | |
| T axis (wrist rotation) | ±210° | |
| Maximum speed S axis (rotation) L axis (lower arm) U axis (upper arm) R axis (wrist rotation) B axis (wrist swing) |
230°/s | |
| Maximum speed S axis (rotation) | 200°/s | |
| L axis (lower arm) | 230°/s | |
| U axis (upper arm) | 430°/s | |
| R axis (wrist rotation) | 430°/s | |
| B axis (wrist swing) | 630°/s | |
| T axis (wrist rotation) Allowable torque R axis (wrist rotation) B axis (wrist swing) |
T axis (wrist rotation) | 10.5N·m |
| Allowable torque R axis (wrist rotation) | 10.5N·m | |
| B axis (wrist swing) | 3.2N·m | |
| T axis (wrist rotation) Allowable inertia moment (GD2/4) R axis (wrist rotation) B axis (wrist swing) |
T axis (wrist rotation) | 0.28kg·m2 |
| Allowable inertia moment (GD2/4) R axis (wrist rotation) | 0.28kg·m2 | |
| B axis (wrist swing) | 0.06kg·m2 | |
| Body weight | 130kg | |
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