| Item | Basic model | |||||||
|---|---|---|---|---|---|---|---|---|
| Model name of robot set(Note 1) |
XR-4341*G | XR-4371*G | XR-4372*G | XR-4373*G | XR-43A1*G | XR-43A2*G | XR-43A3*G | |
| Model name of robot unit |
XR-4341*GM | XR-4371*GM | XR-4372*GM | XR-4373*GM | XR-43A1*GM | XR-43A2*GM | XR-43A3*GM | |
| Overall arm length |
200mm | 200mm | 250mm | 300mm | 200mm | 250mm | 300mm | |
| Motion range/ Stroke |
1st axis (X-axis) |
450mm | 760mm | 1060mm | ||||
| 2st axis (R-axis) |
±168° | |||||||
| 3st axis (Z-axis) |
*1=1:135mm, *=2:200mm | |||||||
| 4th axis (T-axis) |
±360° | |||||||
| Axis combination |
X (1st axis) + R (2nd axis) + Z (3rd axis) + T (4th axis) | |||||||
| Maximum payload |
3kg | |||||||
| Composite speed |
Arm tip (X+R-axis) |
3650mm/s | 3600mm/s | 3240mm/s | ||||
| Z axis/ T-axis |
Z:1500mm/s, T:720°/s | |||||||
| Position repeatability (Note 2) |
X + R-axis |
±0.015mm | ||||||
| Z-axis | ±0.010mm | |||||||
| T-axis | ±0.005°/s | |||||||
| Maximum allowable inertia moment |
0.03kgm2 | |||||||
| Position detection | Absolute encoder | |||||||
| Drive motor and brake | AC servomotors for all axes, Z-axis equipped with brake | |||||||
| Brake releasing | Enter a brake release command with the teach pendant or mini-pendant. | |||||||
| User air piping | 1 systems(φ8)(with optional manifold value : 4 systems (φ4x4)) | |||||||
| 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 |
5.9 x 105Pa | |||||||
| Weight(Note 3) | 33kg (77lbs) |
45kg (80lbs) |
46kg (77lbs) |
47kg (80lbs) |
51kg (112lbs) |
52kg (114lbs) |
53kg (116lbs) |
|