| 技术参数 \ 图示 |  |  |  |  |  |  |  | ||
| 技术指标/型号 | JL-ER3-400 | JL-ER6-500 | JL-ER6-600 | JL-ER6-700 | JL-ER20-800 | JL-ER20-1000 | JL-ER4-550/U | ||
| 额定/最大负载（kg） | 1kg/3kg | 21kg/6kg | 2kg/6kg | 2kg/6kg | 10kg/20kg | 10kg/20kg | 1kg/4kg | ||
| 轴规格 | J1轴 | 手臂长度 | 225mm | 225mm | 325mm | 425mm | 350mm | 550mm | 275mm |
| 工作范围 | ±132° | ±132° | ±132° | ±132° | ±132° | ±132° | ±200° | ||
| J2轴 | 手臂长度 | 175mm | 275mm | 275mm | 275mm | 450mm | 450mm | 275mm | |
| 工作范围 | ±141° | ±150° | ±150° | ±150° | ±152° | ±152° | ±200° | ||
| J3轴 | 有效行程 | 150mm | 200mm | 200mm | 200mm | 420mm | 420mm | 150mm | |
| J4轴 | 旋转范围 | ±360° | ±360° | ±360° | ±360° | ±360° | ±360° | ±360° | |
| 最高速度 | J1轴 | 452°/s | 375°/s | 375°/s | 375°/s | 375°/s | 375°/s | 490°/s | |
| J2轴 | 452°/s | 588°/s | 588°/s | 588°/s | 588°/s | 588°/s | 600°/s | ||
| J1、J2轴合成 | 6000mm/s | 6094mm/s | 6740mm/s | 7400mm/s | 6740mm/s | 11160mm/s | 7400mm/s | ||
| J3轴 | 1067mm/s | 1111mm/s | 1100mm/s | 1100mm/s | 1100mm/s | 2020mm/s | 1000mm/s | ||
| J4轴 | 2250°/s | 1920°/s | 1920°/s | 1920°/s | 1920°/s | 1350°/s | 2000°/s | ||
| 重复定位精度 | J1、J2轴 | ±0.015mm | ±0.015mm | ±0.02mm | ±0.02mm | ±0.025mm | ±0.025mm | ±0.015mm | |
| J3轴 | ±0.01mm | ±0.01mm | ±0.01mm | ±0.01mm | ±0.015mm | ±0.015mm | ±0.01mm | ||
| J4轴 | ±0.01° | ±0.01° | ±0.01° | ±0.01° | ±0.01° | ±0.01° | ±0.01° | ||
| J4轴许可转动惯量kg.㎡ | 0.005 | 0.01 | 0.01 | 0.01 | 0.05 | 0.05 | 0.01 | ||
| J3关节下压力(N) | 100 | 100 | 100 | 100 | 250 | 250 | 100 | ||
| 限位保护 | 软限位，机械限位(J1、J2、J3) | ||||||||
| IO输入/输出 | 24路输入，24路输出 | ||||||||
| 用户气管 | φ6*2，φ4*1 | ||||||||
| 安装方式 | 正装 | 正装 | 正装 | 正装 | 正装 | 正装 | 倒装 | ||
| 防护等级 | IP20/IP54 | IP20 | IP20/IP54 | IP20/IP54 | IP20/IP54 | IP20/IP54 | IP20 | ||
| 重量 | 15kg | 18kg | 18kg | 19kg | 47kg | 50kg | 20kg | ||
