ZDFG1221
· High-Precision Multi-Axis Motion
· Heavy Payload & Wide Reach
· Flexible & Compact Footprint
· Smart Automation Integration
| Robot Model | ZDFX0808 | ZDFX0509 | ZDFH0614B | ZDFH0620B | ZDFT1215 | ZDFT1220 | ZDFG1215 | ZDFG0816 | ZDFG1221 | ZDFG2518/3518 | ZDGT1015 | ZDGT1215D | ZDGT2518 | ZDGT2518D | ZDGT5023 | ZDGT10024 | |
|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|
| Degrees of Freedom | 6 | 6 | 6 | 6 | 6 | 6 | 6 | 6 | 6 | 6 | 6 | 6 | 6 | 6 | 6 | 6 | |
| Payload | 8Kg | 5Kg | 6Kg | 6Kg | 12Kg | 12Kg | 12Kg | 8Kg | 12Kg | 25Kg/35Kg | 10Kg | 12Kg | 25Kg | 25Kg | 50Kg | 100Kg | |
| Reach | 827mm | 948mm | 1462mm | 1982mm | 1463mm | 1980mm | 1470mm | 1587mm | 2073mm | 1853mm | 1499mm | 1516mm | 1808mm | 1839mm | 2340mm | 2440mm | |
| Repeatability | ±0.05mm | ±0.05mm | ±0.05mm | ±0.08mm | ±0.05mm | ±0.08mm | ±0.05mm | ±0.05mm | ±0.05mm | ±0.05mm | ±0.08mm | ±0.05mm | ±0.08mm | ±0.08mm | ±0.08mm | ±0.1mm | |
| Structure Configuration | Solid External | Solid External | Hollow Internal | Hollow Internal | Hollow Internal | Hollow Internal | Hollow Internal | Hollow Internal | Hollow Internal | Hollow Internal | Solid External | Solid External | Hollow Internal | Solid External | Solid External | Solid External | |
| Recommended Applications | Spot Welding | ● | ● | ||||||||||||||
| Handling / Loading | ● | ● | ● | ● | ● | ● | ● | ● | ● | ● | ● | ● | ● | ● | ● | ● | |
| Assembly | ● | ● | ● | ● | ● | ● | ● | ● | ● | ● | ● | ● | |||||
| Inspection | ● | ● | ● | ● | |||||||||||||
| Polishing | ● | ● | ● | ● | ● | ● | ● | ● | |||||||||
| Cutting | ● | ● | ● | ● | ● | ● | ● | ● | ● | ● | ● | ● | |||||
| Painting | ● | ● | ● | ● | |||||||||||||
| Arc Welding | ● | ● | ● | ● | ● | ● | ● | ● | |||||||||
| Gluing | ● | ● | ● | ● | ● | ● | ● | ● | ● | ● | ● | ● | |||||
General Specifications
Model: ZDFG1221
| Robot Model | ZDFG1221 | |
|---|---|---|
| Degrees of Freedom | 6 Axes | |
| Mounting Position | Ground / Ceiling Mount | |
| Maximum Operating Speed | J1 Axis | 175°/s |
| J2 Axis | 119°/s | |
| J3 Axis | 179°/s | |
| J4 Axis | 278°/s | |
| J5 Axis | 270°/s | |
| J6 Axis | 583°/s | |
| Maximum Operating Range | J1 Axis | ±180° |
| J2 Axis | -125° ~ +85° | |
| J3 Axis | -84° ~ +180° | |
| J4 Axis | ±180° | |
| J5 Axis | ±180° | |
| J6 Axis | ±360° | |
| Maximum Working Radius | 2073 mm | |
| Maximum End Load | 12 kg | |
| Robot Body Weight | Approx. 197 kg | |
| Allowable Torque | J4 | 52 N·m |
| J5 | 26 N·m | |
| J6 | 11 N·m | |
| Allowable Moment of Inertia | J4 | 2.4 kg·m² |
| J5 | 0.90 kg·m² | |
| J6 | 0.30 kg·m² | |
| Repeatability | ±0.05 mm | |
| Robot Base Dimensions | 300 × 420 mm | |
| Ambient Temperature | 0 ~ 45 °C | |
| Relative Humidity | 20 ~ 80% RH | |
| Atmospheric Pressure | 89 kPa ~ 106 kPa (Altitude <1000m) | |
| Vibration / Impact / Collision | ≤ 0.5G | |
| Protection Rating | IP54 (Wrist IP67) | |
■ Inertia Tensor Relative to Center of Mass
| Component | Seat | Boom | Arm Seat | Forearm | Wrist | End Output |
|---|---|---|---|---|---|---|
| Reference | CS 1 | CS 2 | CS 3 | CS 4 | CS 5 | CS 6 |
| Ixx (kg·mm²) | 2.1×10⁵ | 1.2×10⁶ | 6.8×10⁵ | 4.9×10⁵ | 1.1×10⁴ | 5.5×10² |
| Iyy (kg·mm²) | 2.6×10⁵ | 8.8×10⁵ | 6.4×10⁵ | 4.9×10⁵ | 9.4×10³ | 5.5×10² |
| Izz (kg·mm²) | 1.6×10⁵ | 7.8×10⁵ | 1.1×10⁶ | 8.1×10⁴ | 5.7×10³ | 5.4×10² |
■ Joint Coupling
| Joint | J1-J2 | J2-J3 | J3-J4 | J4-J5 | J4-J6 | J5-J6 |
|---|---|---|---|---|---|---|
| Coupling Coeff. | / | / | / | / | / | 0.96 |
■ Reducer Parameters
| Model | 100C | 250BX | 42N | Planetary & Hypoid Gear | ||
|---|---|---|---|---|---|---|
| Reducer Ratio | 36.75 | 111 | 104 | 9 | 10 | 4 |
| Overall Ratio | 102.9 | 111 | 104 | 108 | 100 | 46.25 |
| Rated Speed (rpm) | 15 | 15 | 15 | 28 | 30 | 65 |
| Rated Torque (N·m) | 980 | 1078 | 412 | 130 | 60 | 28 |
| Start/Stop Torque | 2450 | 2695 | 1029 | 259 | 120 | 56 |
| Max Torque (N·m) | 4900 | 5390 | 2058 | 389 | 180 | 83 |
| Moment Rigidity | 510 | 294 | 113 | 24 | 20 | 20 |
■ Motor Parameters
| Joint | J1 | J2 | J3 | J4 | J5 | J6 |
|---|---|---|---|---|---|---|
| Motor Model | 130 | 180 | 130 | 60 | 60 | 60 |
| Rated Power (kW) | 2 | 3 | 1.5 | 0.4 | 0.2 | 0.2 |
| Rated Voltage (V) | 220 | |||||
| Rated Current (A) | 8.5 | 18 | 7 | 2.5 | 1.5 | 1.5 |
| Rated Torque (N·m) | 6.36 | 14.3 | 4.77 | 1.27 | 0.63 | 0.63 |
| Rated Speed (rpm) | 3000 | 2000 | 3000 | 3000 | 3000 | 3000 |
| Max Speed (rpm) | 3000 | 2200 | 3100 | 5000 | 4500 | 4500 |
| Rotor Inertia | 16.5 | 51 | 9 | 0.62 | 0.2 | 0.2 |
| Back EMF Coeff. | 50.5 | 52.8 | 48 | 34 | 30 | 30 |
| Pole Pairs | 5 | |||||
| Encoder | 17-bit Multi-turn Absolute (Tamagawa Protocol) | |||||
■ Work scope Diagram
■ Installation interface Diagram
■ Features For Industrial Robot Arm
This High-Performance Industrial Robot Arm is engineered to deliver exceptional precision, heavy payload capacity, and high-speed motion across complex manufacturing environments. Featuring an optimized multi-axis articulated structure and a broad workspace reach, it ensures superior trajectory tracking and long-term mechanical reliability under demanding industrial workloads. With seamless system integration capabilities and a flexible design, it provides an advanced, cost-effective automation solution tailored for welding, material handling, assembly, and various smart factory applications.