| Item | Cleanroom model | Cleanroom model with brakes | |||||||
|---|---|---|---|---|---|---|---|---|---|
| Model name of robot set(1) | VS-6556G-P10 | VS-6556G-P100 | VS-6577G-P10 | VS-6577G-P100 | VS-6556G-BP10 | VS-6556G-BP100 | VS-6577G-BP10 | VS-6577G-BP100 | |
| Model name of robot unit | VS-6556GM-P10 | VS-6556GM-P100 | VS-6577GM-P10 | VS-6577GM-P100 | VS-6556GM-BP10 | VS-6556GM-BP100 | VS-6577GM-BP10 | VS-6577GM-BP100 | |
| 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 |
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| 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) |
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| 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° |
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| Maximum payload | 7kg(With wrist facing downward ±45°)(3) | ||||||||
| 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 :±0.02mm (at the center of an end-effector mounting face) |
In each of X, Y and Z :±0.03mm (at the center of an end-effector mounting face) |
In each of X, Y and Z :±0.02mm (at the center of an end-effector mounting face) |
In each of X, Y and Z :±0.03mm (at the center of an end-effector mounting face) |
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| 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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| User air piping | 6 systems(φ4x6), 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 | ||||||||
| Clean class (FED-STD-209D) | class10(0.1μ) at point-of-use |
class100(0.3μ) at point-of-use |
class10(0.1μ) at point-of-use |
class100(0.3μ) at point-of-use |
class10(0.1μ) at point-of-use |
class100(0.3μ) at point-of-use |
class10(0.1μ) at point-of-use |
class100(0.3μ) at point-of-use |
|
| Airborne noise | 80 dB or less (A-weighted equipment continuous sound pressure level) | ||||||||
| Weight | Approx. 35kg(77lbs)(4) | Approx. 36kg(80lbs)(4) | Approx. 35kg(77lbs)(4) | Approx. 36kg(80lbs)(4) | |||||