ZDFX0509
· 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: ZDFX0509
| Robot Model | ZDFX0509 | |
|---|---|---|
| Degrees of Freedom | 6 Axes | |
| Mounting Position | Ground / Ceiling Mount | |
| Maximum Operating Speed | J1 Axis | 210°/s |
| J2 Axis | 210°/s | |
| J3 Axis | 255°/s | |
| J4 Axis | 410°/s | |
| J5 Axis | 550°/s | |
| J6 Axis | 375°/s | |
| Maximum Operating Range | J1 Axis | ±170° |
| J2 Axis | -145° ~ +80° | |
| J3 Axis | -70° ~ +180° | |
| J4 Axis | ±180° | |
| J5 Axis | ±130° | |
| J6 Axis | ±360° | |
| Maximum Working Radius | 948 mm | |
| Maximum End Load | 5 kg | |
| Robot Body Weight | Approx. 43 kg | |
| Allowable Torque | J4 | 10.4 N·m |
| J5 | 10.4 N·m | |
| J6 | 5.9 N·m | |
| Allowable Moment of Inertia | J4 | 0.32 kg·m² |
| J5 | 0.32 kg·m² | |
| J6 | 0.13 kg·m² | |
| Repeatability | ±0.05 mm | |
| Robot Base Dimensions | 200 × 300 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 | IP65 | |
■ Inertia Tensor Relative to Center of Mass
| Component | Base | Seat | Boom | Arm Seat | Forearm | Wrist |
|---|---|---|---|---|---|---|
| Reference | CS 0 | CS 1 | CS 2 | CS 3 | CS 4 | CS 5 |
| Ixx (kg·mm²) | / | 2.6×10⁴ | 7.5×10⁴ | 8.3×10³ | 3.3×10⁵ | 4.1×10³ |
| Iyy (kg·mm²) | / | 3.8×10⁴ | 8.7×10⁵ | 9.9×10³ | 3.2×10⁵ | 8.2×10² |
| Izz (kg·mm²) | / | 2.8×10⁴ | 8.4×10⁵ | 1.9×10⁴ | 1.1×10⁴ | 4.0×10³ |
■ Joint Coupling
| Joint | J1-J2 | J2-J3 | J3-J4 | J4-J5 | J4-J6 | J5-J6 |
|---|---|---|---|---|---|---|
| Coupling Coeff. | / | / | / | / | / | 80 |
■ Reducer Parameters
| Model | 32 Harmonic | 32 Harmonic | 25 Harmonic | 20 Harmonic | 17 Harmonic | 17 Harmonic |
|---|---|---|---|---|---|---|
| Reducer Ratio | 80 | 80 | 80 | 50 | 50 | 80 |
| Overall Ratio | 128.57 | 114.28 | 92.571 | 80.645 | 60 | 80 |
| Rated Speed (rpm) | / | |||||
| Rated Torque (N·m) | 76 | 76 | 39 | 25 | 16 | 16 |
| Start/Stop Torque | 216 | 216 | 98 | 56 | 34 | 34 |
| Max Torque (N·m) | 382 | 382 | 186 | 98 | 70 | 70 |
| Moment Rigidity | / | |||||
■ Motor Parameters
| Joint | J1 | J2 | J3 | J4 | J5 | J6 |
|---|---|---|---|---|---|---|
| Motor Model | 60 | 80 | 60 | 60 | 60 | 60 |
| Rated Power (kW) | 0.4 | 0.75 | 0.4 | 0.2 | 0.1 | 0.1 |
| Rated Voltage (V) | 220 | |||||
| Rated Current (A) | 2.6 | 4.7 | 2.6 | 1.4 | 0.85 | 0.85 |
| Rated Torque (N·m) | 1.27 | 2.38 | 1.27 | 0.63 | 0.32 | 0.32 |
| Rated Speed (rpm) | 3000 | 3000 | 3000 | 3000 | 3000 | 3000 |
| Max Speed (rpm) | 4500 | 4000 | 5500 | 5500 | 5500 | 5000 |
| Rotor Inertia | 0.4 | 1.2 | 0.4 | 0.216 | 0.113 | 0.113 |
| Back EMF Coeff. | 33 | 35.9 | 33 | 49.2 | 47 | 47 |
| 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.