| Item | Basic model | Basic model with brakes | |||
|---|---|---|---|---|---|
| Model name of robot set(1) | VS-6556G | VS-6577G | VS-6556G-B | VS-6577G-B | |
| Model name of robot unit | VS-6556GM | VS-6577GM | VS-6556GM-B | VS-6577GM-B | |
| Overall arm length | 270(first arm)+295(second arm)=565mm | 365(first arm)+405(second arm)=770mm | 270(first arm)+295(second arm)=565mm | 365(first arm)+405(second arm)=770mm | |
| Arm offset | J1(swing) : 75mm J3(front arm) : 90mm | ||||
| Maximum motion area | R=733mm(end-effector mounting face) R=653mm(Point P : J4, J5, J6 center) |
R=934mm(end-effector mounting face) R=854mm(Point P : J4, J5, J6 center) |
R=733mm(end-effector mounting face) R=653mm(Point P : J4, J5, J6 center) |
R=934mm(end-effector mounting face) R=854mm(Point P : J4, J5, J6 center) |
|
| Motion angle | J1:±170°, J2:+135°,-100°, J3:+166°,-119°, J4:±190°, J5:±120°, J6:±360° |
J1:±170°, J2:+135°,-100°, J3:+169°,-119°, J4:±190°, J5:±120°, J6:±360° |
J1:±170°, J2:+135°,-100°, J3:+166°,-119°, J4:±190°, J5:±120°, J6:±360° |
J1:±170°, J2:+135°,-100°, J3:+169°,-119°, J4:±190°, J5:±120°, J6:±360° |
|
| Maximum payload | 7kg(With wrist facing downward ±45°)(4) | ||||
| Maximum composite speed | 8200mm/s(at the center of an end-effector mounting face) | 7600mm/s(at the center of an end-effector mounting face) | 8200mm/s(at the center of an end-effector mounting face) | 7600mm/s(at the center of an end-effector mounting face) | |
| Position repeatability (2) | In each of X, Y and Z directions : ±0.02mm (at the center of an end-effector mounting face) |
In each of X, Y and Z directions : ±0.03mm (at the center of an end-effector mounting face) |
In each of X, Y and Z directions : ±0.02mm (at the center of an end-effector mounting face) |
In each of X, Y and Z directions : ±0.03mm (at the center of an end-effector mounting face) |
|
| Maximum allowable inertia moment | 0.41kgm2 for around J4 and J5, 0.063kgm2 for around J6 (Load setting: 7kg) |
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| Position detection | Absolute encoder | ||||
| Drive motor and brake | AC servomotors for all joints, Brakes for joints J2 to J4 |
AC servomotors for all joints, Brakes for joints J2 to J6 |
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| Brake releasing | Enter a brake release command with the teach pendant or mini-pendant. | ||||
| User air piping(3) | 7 systems(φ4x6, φ6x1) , 3 solenoid valves (2-position, double solenoid) | ||||
| 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 | IP40 | ||||
| Airborne noise | 80 dB or less (A-weighted equipment continuous sound pressure level) | ||||
| Weight | Approx. 35kg(77lbs)(5) | Approx. 36kg(80lbs)(5) | Approx. 35kg(77lbs)(5) | Approx. 36kg(80lbs)(5) | |