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2 Robot arm
2.1 Standard specifications
2.1.1 Basic specifications
Table 2-1: Standard specifications of RV-8CRL robot
Item
Type
Environment
Degree of freedom
Installation posture
Structure
Drive system
Position detection method
Motor capac-
Waist (J1)
ity
Shoulder (J2)
Elbow (J3)
Wrist twist (J4)
Wrist pitch (J5)
Wrist roll (J6)
Operating
Waist (J1)
range
Shoulder (J2)
Elbow (J3)
Wrist twist (J4)
Wrist pitch (J5)
Wrist roll (J6)
Speed of
Waist (J1)
motion
Shoulder (J2)
Elbow (J3)
Wrist twist (J4)
Wrist pitch (J5)
Wrist roll (J6)
Maximum reach radius (P point)
Maximum resultant velocity
Load
Rating
Maximum
Note4)
Pose repeatability
Note5)
Ambient temperature
Mass
Allowable
Wrist twist (J4)
moment load
Wrist pitch (J5)
Wrist roll (J6)
Allowable
Wrist twist (J4)
inertia
Wrist pitch (J5)
Wrist roll (J6)
Tool wiring
Tool pneumatic pipes
Supply pressure
Protection specification
Note6) Note7) Note8)
Painting color
External magnetic field
Note1) When used by mounting on the wall, a special specification that limits the operating range of the J1 axis will be used. Please
give an order separately.
Note2) This is the value on the mechanical interface surface when all axes are combined.
Note3) Allowable load when the mechanical interface faces downward at an inclination within ±10° to the vertical direction.
Note4) The pose repeatability details are given in
Unit
W
Degree
Degree/
s
mm
Note2)
mm/sec
kg
Note3)
kg
mm
°C
kg
N•m
2
kg•m
-
-
MPa
-
-
mT
Page 11, "2.2.1 Pose repeatability"
Specifications
RV-8CRL
Oil mist specification
On floor, hanging, (against wall
Vertical, multiple-joint type
AC servo motor (brake provided on all axes)
Absolute encoder
+0 to +165
D-sub 15 pins
Light gray (Equivalent to Munsell: 0.6B7.6/0.2, PANTONE: 428C)
Less than 10
6
Note1)
)
600
750
400
100
100
100
±170
±110
±200
±120
±360
288
321
360
337
450
720
931
10,500
7
8
±0.02
0 to 40
41
16.2
16.2
6.86
0.45
0.45
0.10
φ6×2
0.54
IP65
Standard specifications 2-9
2 Robot arm
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