Comparative Sheet(5- and 6-Axis Robots)

Description of the main specification of DENSO Robots, Teaching pendants, Off-line software.

■5- and 6-Axis Robots
Model name VP-5243G VP-6242G VS-6556G VS-6577G VM-6083G VM-60B1G
Axis 5 6 6 6 6 6
Overall arm length(mm) 430 420 565 770 830 1110
Second arm width(mm) 112 112 110 110 130 130
Maximum motion
area of Point P(mm)(J1center)		 430 432 653 854 1021 1298
Minimum motion
area of Point P(mm)		 162 148 234 242 393 404
Maximum payload(Kg) 2.5(3kg at wrist direction downward) 2(2.5kg at wrist direction downward) 6kg(7kg at wrist direction downward)(1) 6kg(7kg at wrist direction downward)(1) 10 10
Total weight(Kg) 13 15 35 36 82 82
Footprint (mm×mm) 160 x 160 160 x 160 200 x 200 200 x 200 300 x 300 300 x 300
Cycle time (second) 0.99
(with 1kg weight)		 0.99
(with 1kg weight)		 0.49
(with 1kg weight)		 0.59
(with 1kg weight)		 0.89
(with 5kg weight)		 0.95
(with 5kg weight)
Max.
composite speed(mm/s)		 3900 3900 8200 7600 8300 8300
Repeatability(mm)(2) ±0.02(3) ±0.02(3) ±0.02(3) ±0.03(3) ±0.05(3) ±0.07(3)
Max. allowable inertia moment(kgm2) J4 - 0.030 0.413 0.413 0.36 0.36
J5 0.040 0.030 0.413 0.413 0.36 0.36
J6 0.010 0.007 0.063 0.063 0.064 0.064
Range of motion(°) J1 ±160 ±160 ±170 ±170 ±170 ±170
J2 ±120 ±120 -100〜+135 -100～+135 -90～+135 -90～+135
J3 -128～+136 +19～+160 -119～+166 -119～+169 -80～+165 -80～+168
J4 - ±160 ±190 ±190 ±185 ±185
J5 ±120 ±120 ±120 ±120 ±120 ±120
J6 ±360 ±360 ±360 ±360 ±360 ±360
Dust & Mistproof model - - ○(Wrist:IP65 Main unit:IP54)
Cleanroom model - - ○(Class10[0.1μm],Class100[0.3μm]) ○(Class100[0.3μm])
Overhead ○(4)
UL listed - - ○(5) - -
  1. UL listed : 5kg
  2. Position repeatability is the value at constant ambient temperature.
  3. In every direction
  4. You can use all models as overhead mount except cleanroom model, which is floor-mounted only.
  5. Only for Dust & Mistproof model with breaks