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2Robot arm
2 Robot arm
2.1 Standard specifications
2.1.1 Standard specifications
Table 2-1 ： Tab Standard specifications of robot
Item
Type
Type of robot
Degree of freedom
Installation posture
Structure
Drive system
Position detection method
Upper arm
Arm length
Fore arm
Waist (J1)
Shoulder (J2)
Elbow (J3)
Operating
range
Wrist twist (J4)
Wrist pitch (J5)
Wrist roll (J6)
Waist (J1)
Shoulder (J2)
Elbow (J3)
Speed of
motion
Wrist twist (J4)
Wrist pitch (J5)
Wrist roll (J6)
Maximum resultant velocity
Load
Maximum
Rating
Note3)
Pose repeatability
Ambient temperature
Mass
Wrist twist (J4)
Allowable
Wrist pitch (J5)
moment load
Wrist roll (J6)
Wrist twist (J4)
Allowable
Wrist pitch (J5)
inertia
Wrist roll (J6)
Arm reachable radius froot p-axis
center point
Note5)
Tool wiring
Tool pneumatic pipes
Supply pressure
Protection specification
Degree of cleanliness
Painting color
Note1) This is the value on the hand flange surface when all axes are combined.
Note2) The maximum load capacity is the mass with the flange posture facing downword at the ± 10°limit.
Note3) The pose repeatability details are given in
Note4) Up to 0.092kg ･ m
load inertia.
Note5) The air hand interface (option) is required when the tool (hand) output is used. Also, if the solenoid set (option) is
used, eight points of hand outputs are used for other options. ｡
Note6) The protection specification details are given in
Note7) The clean specification details are given in
clean room is the necessary conditions for the cleanliness.
Standard specifications
2-6
Unit
On floor, hanging
mm
Degree
Degree/
s
Note1)
mm/sec
Note2)
kg
mm
℃
kg
N ･ m
2
kg ･ m
mm
Six spare wires :
AWG#28(0.1mm
MPa
J1 to J3 axis : IP54
Note6)
J4 to J6 axis : IP65
Note7)
2
can be supported by performing variable acceleration/deceleration control and also by setting the
RV-6S
RV-6SC
6-axis standard arm
Clean
Standard
(Special Specifications)
On floor
Vertical, multiple-joint type
AC servo motor (brake provided on all axes)
280
315
273(-107 to +166)
401
321
401
Approx. 9,300
Approx. 58
696
Hand input 8 point / hand output 8 point
Four spare wires :
2
)
AWG#24(0.2mm
(shielded)
Primary side: Φ6 × 2 (Base to fore arm section)
-
10(0.3μm)
-
Internal suction
requirement
Light gray （Equivalent to Munsell: 0.8GY7.64/0.81)
Page 7, "2.2.1 Pose repeatability"
Page 10, "2.2.5 Protection specifications and working
Page 11, "2.2.6 Clean specifications"
Specifications
RV-6SL
6-axis long arm
Standard
6
On floor, hanging
Absolute encoder
340(-170 to +170)
227(-92 to +135)
295(-129 to +166)
320(-160 to +160)
240(-120 to +120)
720(-360 to +360)
352
450
660
Approx. 8,500
6
5
± 0.02
0 to 40
Approx. 60
12
12
4.5
0.29
0.29
Note4)
0.046
Six spare wires :
2
2
)
AWG#28(0.1mm
)
(shielded)
0.49 ± 10%
J1 to J3 axis : IP54
J4 to J6 axis : IP65
-
.A down flow(0.3m/s or more) in the
RV-6SLC
Clean
(Special Specifications)
On floor
380
425
250
267
267
902
Four spare wires :
2
AWG#24(0.2mm
)
-
10(0.3μm)
Internal suction
requirement
environment".
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