| Item | Dust & Mistproof model | ||
|---|---|---|---|
| Model name of robot set(Note 1) | VM-6083G-W | VM-60B1G-W | |
| Model name of robot unit | VM-6083GM-W | VM-60B1GM-W | |
| Overall arm length | 385(first arm)+445(second arm)=830mm | 520(first arm)+590(second arm)=1,110mm | |
| Arm offset | J1(swing) : 180mm J3(front arm) : 100mm | ||
| Maximum motion area | R=1,111mm(end-effector mounting face) R=1,021mm(Point P : J4, J5, J6 center) |
R=1,388mm(end-effector mounting face) R=1,298mm(Point P : J4, J5, J6 center) |
|
| Motion angle | J1:±170° J2:+135°,-90° J3:+165°,-80° J4:±185° J5:±120° J6:±360° |
J1:±170° J2:+135°,-90° J3:+168°,-80° J4:±185° J5:±120° J6:±360° |
|
| Maximum payload | 10kg | ||
| Maximum composite speed | 8300mm/s(at the center of an end-effector mounting face) | ||
| Position repeatability(Note 2) | In each of X, Y and Z directions : ±0.05mm (at the center of an end-effector mounting face) |
In each of X, Y and Z directions : ±0.07mm (at the center of an end-effector mounting face) |
|
| Maximum allowable inertia moment | Around J4, J5 : 0.36kgm2 Around J6 : 0.064kgm2 |
||
| Position detection | Absolute encoder | ||
| Drive motor and brake | AC servomotors for all joints, Brakes for joints J2 to J6 | ||
| User air piping(Note 3) | 7 systems(φ4x6, φ6x1), 3 solenoid valves (2-position, double solenoid) contained. | ||
| User signal line | 10(for proximity sensor signals, etc.) | ||
| Air source | Operating pressure | 1.0 x 105Pa to 3.9 x 105Pa | |
| Maximum allowable pressure | 4.9 x 105Pa | ||
| Degree of protection | IP54 (Wrist : IP65) | ||
| Weight | Approx. 86 kg (189 lbs) | Approx. 88 kg (193 lbs) | |