Performance Specifications; General Performance Information - Omron Viper 650 User Manual

Item
Reach
Payload—rated
Payload—maximum
Encoder types
Drive Motor and Brakes
Weight (without options)

8.3 Performance Specifications

This section provides the robot's performance specifications.

General Performance Information

The following table provides general performance information for the robot.
Performance Item
Maximum Moment of Inertia
Repeatability
Joint ranges
Maximum Joint speeds
21861-000 Rev A
Table 8-1. General Robot Specifications
Viper 650 Robot
Specification
653 mm
AC servomotors for all joints,
Brakes for joints J2 through J6
34 kg
Table 8-2. General Robot Performance Information
Viper 650 and Viper 850 Robots
Joint 4 and 5 - 0.295 kg-m
Joint 6 - 0.045 kg-m
X, Y, Z: ±0.02 mm
Joint 1: ±170°
Joint 2: -190°, +45°
Joint 3: -29°, +256°
Joint 4: ±190°
Joint 5: ±120°
Joint 6: ±360°
Joint 1: 328°/sec
Joint 2: 300°/sec
Joint 3: 375°/sec
Joint 4: 375°/sec
Joint 5: 375°/sec
Joint 6: 600°/sec
Viper 650 and 850 Robot with EtherCAT
Chapter 8: Technical Specifications
Viper 850 Robot
Specification
854 mm
2.5 kg
5 kg
Absolute
36 kg
2
2
X, Y, Z: ±0.03 mm
Joint 1: 250°/sec
Joint 2: 250°/sec
Joint 3: 250°/sec
Joint 4: 375°/sec
Joint 5: 375°/sec
Joint 6: 600°/sec
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