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n n n n Location of IPM boards
The table below shows the location of IPM boards for robot series or models.
Series &
models
Item
VM-6070D
Joints
IPM model
Motor capacity (W)
VM-6083D/
Joints
VM-60B1D
IPM model
Motor capacity (W)
VS-D
Joints
IPM model
Motor capacity (W)
VS-E
Joints
IPM model
Motor capacity (W)
VC-E
Joints
IPM model
Motor capacity (W)
HM/HS-D
Joints
IPM model
Motor capacity (W)
HM-E
Joints
IPM model
Motor capacity (W)
HS-E
Joints
IPM model
Motor capacity (W)
HC-D
Joints
IPM model
Motor capacity (W)
XYC-D
Joints
IPM model
Motor capacity (W)
NOTE 1: No IPM board are installed to locations marked with "-." Those locations
NOTE 2: For details about extended-joint support controllers, refer to the manual
Rear view of the controller
Location
(8)
-
-
-
-
-
-
-
-
-
-
-
-
-
-
-
-
-
-
-
-
-
-
-
-
-
-
-
-
-
-
are covered with blank caps.
"SUPPLEMENT Extended-Joints Support."
(7)
(6)
(5)
1
6
5
M
SS
SS
750
100
200
2
6
5
M
SS
SS
750
100
200
-
6
5
-
SS
SS
-
50
50
-
6
5
-
SS
SS
-
50
80
-
6
5
-
SS
SS
-
30
30
-
-
-
-
-
-
-
-
-
-
4
3
-
M
M
-
300
300
-
-
-
-
-
-
-
-
-
-
-
-
-
-
-
-
-
-
-
-
-
-
-
-
-
-
-
10
(4)
(3)
(2)
4
3
2
SS
S
L
200
400
1500
4
3
1
SS
S
L
200
400
1500
4
3
2
SS
S
S
50
200
400
4
3
2
SS
S
S
100
200
400
4
3
2
SS
SS
SS
30
80
80
4
3
2
SS
S
M
200
200
750
2
LL
LL
600
1000
4
3
2
S
S
M
150
200
400
4
3
2
SS
SS
S
50
100
400
4
3
2
SS
S
S
50
200
400
(1)
-
-
-
-
-
-
1
S
400
1
M
750
1
SS
80
1
M
750
1
1
L
750
1
M
750
1
S
200
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