Chapter 6 Specifications; Manipulator; Basic Specification - Omron SCARA R6Y-XC Series User Manual

1

Manipulator

1-1

Basic specification

Axis
speci -
cations
Motor
Maximum speed
Repeatability *1
Payload
R-axis tolerable moment of inertia *2
User wiring
User tubing (Outer diameter)
Travel limit
Robot cable
Weight
Cleanliness class
Suction air ow
*1 At constant ambient temperature (XY)
*2 There are limits to acceleration coe cient settings.
Robot model
R6YXCH250
Arm length
125mm
X-axis
Rotation angle
Arm length
125mm
Y -axis
Rotation angle
Z-axis Stroke
150mm
R-axis Rotation angle
X-axis
Y -axis
Z-axis
R-axis
XY resultant
Z-axis
R-axis
1020°/s
XY -axes
±0.01mm
Z-axis
±0.01mm
R-axis
±0.005º
10 cables
1.Soft limit 2.Mechanical limit (XYZ-axes)
Class 10 (0.1 micron base, during air suction)
6-1
R6YXCH350
225mm
±115º ±115º
125mm
±130º ±128º
150mm
±180º ±180º
200W 200W
100W 100W
100W 100W
100W 100W
4.0m/s 5.0m/s
1.0m/s 1.0m/s
1020°/s
±0.01mm
±0.01mm
±0.005º
3kg 3kg
0.05kgm (0.5kgfcms
2 2
10 cables
4x3
4x3
3.5m (option: 5m, 10m)
16kg 16kg
60 Nl/min

CHAPTER 6 Specifications

R6YXCH400
225mm
±115º
175mm
±143º
150mm
±180º
200W
100W
100W
100W
6.0m/s
1.0m/s
1020°/s
±0.01mm
±0.01mm
±0.005º
3kg
)
10 cables
4x3
16kg