XR Series｜Built-in Robotsr｜products｜industrial robots

XR Series

Installation into compact facilities and direct operation below the robot with linear-motion and swivel axes combined with a ceiling-mount.

X-Axis stroke｜450・760・1060mm
Z-Axis stroke｜135・200mm
Maximum payload｜5kg
Cycle time｜0.56 sec

Features
Spec
Dimensions
Standard Components
Option

This slim robot allows installation in narrow and/or low facilities.

The ceiling-hung structure, which maximizes the motion range, is adopted.

The high-speed motion contributes to productive facilities.

By combined the motion of linear-motion and swivel axes, the speed is improved by 17% (P-P motion) compared to our conventional Cartesian robots.

Standard equipment includes air piping for tools (1 line) and electric wiring (10 core wires).
A solenoid valve assembly (4 valves) is available as an option.

Legend

Item		Unit	Specifications
Model name of robot unit(*1)		-	XR-4341*	XR-4371*	XR-4372*	XR-4373*	XR-43A1*	XR-43A2*	XR-43A3*
Axes		-	4
Position detection		-	Absolute encoder
Drive motor and brake		-	AC servomotors for all joints / Z-axis equipped with brake
Overall arm length(first arm + second arm)		mm	200		250	300	200	250	300
Motion angle and stroke	X(1st-Axis)	mm	450	760			1,060
	R(2nd-Axis)	°	±168
	Z(3rd-Axis)	mm	=1：135、=2：200
	T(4th-Axis)	°	±360
Maximum payload		kg	5
Maximum composite speed (at the center of an end-effector mounting face)	At the center of the hand mounting flange	mm/sec	3,650	3,600			3,240
	Z	mm/sec	1,500
	T	°/sec	720
Position repeatability(at the center of an end-effector mounting face)(*2)	X+R	mm	±0.015
	Z	mm	±0.01
	T	°	±0.005
Maximum allowable inertia moment (Inertia)		kgm²	0.05
User air piping		-	1 system (φ8) (with optional manifold valve : 4 systems（φ4Ｘ8））
User signal line		-	10(for proximity sensor signals, etc.)
Air source	Operating pressure	Mpa	0.05 - 0.35
Air source	Maximum allowable pressure	Mpa	0.59
Weight(*3)		kg	Approx. 33	Approx. 45	Approx. 46	Approx. 47	Approx. 51	Approx. 52	Approx. 53

*1.An asterisk (*) in model names denotes the Z-axis stroke.
*2.Measured at the constant ambient temperature.
*3.In the case of the heaviest model (Z=200mm).

	Standard type
XR-43***	Download

RC8

Group	Item	Q'ty
Robot & Accessories	Robot unit	1
	Motor & encoder cable (option)	1
	Sheet of direction indicator labels	1
	Connector set for hand control signals (for CN20 and CN21)	1set
	Eyebolts (for transportation) *Attached to the robot unit when shipped.	2
Controller & Accessories	Robot controller	1
	Power cable (5 m)	1
	Pendantless connector (Dummy connector)	1
	Cable clamp	1
Software etc	WINCAPS III trial version installer disc	1
	Manuals ("Manual Pack disc" and "Safety Precautions")	1set
	Warning label	1

Type	Item
I/O cables	Standard I/O cable set	Consisting of 8-m I/O cables for "Mini I/O" and "HAND I/O."
	Standard I/O cable set	Consisting of 15-m I/O cables for "Mini I/O" and "HAND I/O."
	I/O cable for "Mini I/O" (68 pins)	8 m
	I/O cable for "Mini I/O" (68 pins)	15 m
	I/O cable for "HAND I/O" (20 pins)	8 m
	I/O cable for "HAND I/O" (20 pins)	15 m
	I/O cable for "Parallel I/O board" (96 pins)	8 m
	I/O cable for "Parallel I/O board" (96 pins)	15m
Operation devices	Teaching pendant	With 4 m cable
		With 8 m cable
		With 12 m cable
	Mini-pendant kit (Incl. WINCAPS III Light version)	With 4 m cable	Japanese language version
		With 4 m cable	English language version
		With 8 m cable	Japanese language version
		With 8 m cable	English language version
		With 12 m cable	Japanese language version
		With 12 m cable	English language version
	Pendant extension cable	4 m	For TP / MP
	Pendant extension cable	8 m	For TP / MP
For VS	External battery unit	With 4 m cable
		With 8 m cable
		With 12 m cable
	Brake release unit	With 4 m cable
		With 8 m cable
		With 12 m cable
	Air purge unit	Only for protected type robots
	Second arm cover R (with tapped holes) for VS-050 / 060	Only for standard type robots(IP40)
	Second arm cover R (with tapped holes) for VS-068 / 087	Only for standard type robots(IP40)
	Stopper bolt M8 for J2 mechanical ends for VS-050 / 060	For the 2nd axis
	Stopper bolt M5 for J3 mechanical ends for VS-050 / 060	For the 3rd axis
	Stopper bolt M10 for J2 / J3 mechanical ends for VS-068 / 087	For the 2nd and 3rd axes
For HM	Flange kit	For 20 kg payload
For HM	Flange kit	For 10 kg payload
For HS	Flange kit	For 5 kg payload
For XR	Valve assembly 4-station manifold valve	Single shipment (supply part)
	Valve assembly 4-station manifold valve	Robot mounting shipping
	Hand control cabling kit	-
	Hand control cable	2m

Item / Specifications
VM/VP/HM/HS/XR Series Standard cable (for standard type)	Straight	2 m
		4 m
		6 m
		12 m
		20 m
	Angle	2 m
		4 m
		6 m
		12 m
		20 m
VM/VP/HM/HS/XR Series Splash-proof cable (for dust- & splash-proof type and cleanroom type)	Straight	2 m
		4 m
		6 m
		12 m
		20 m
	Angle	2 m
		4 m
		6 m
		12 m
		20 m
For VS-050/VS-060/ VS-068/VS-087	Straight	2 m
		4 m
		6 m
		12 m
		20 m
	Angle	2 m
		4 m
		6 m
		12 m
		20 m

Type	Item
Optional boards for the robot controller RC8 series	Parallel I/O board (PCI board)	NPN type I/O	Shipped after mounted on the controller (With license)
			Shipped separately as a spare part (With license)
			Shipped separately as a spare part (Without license)
			License certificate only
		PNP type I/O	Shipped after mounted on the controller (With license)
			Shipped separately as a spare part (With license)
			Shipped separately as a spare part (Without license)
			License certificate only
	DeviceNet slave board (PCI Express board)	Mobile unit	Shipped after mounted on the controller (With license)
			Shipped separately as a spare part (With license)
			Shipped separately as a spare part (Without license)
			License certificate only
	CC-Link remote device board (PCI Express board)	Shipped after mounted on the controller(With license)
		Shipped separately as a spare part(With license)
		Shipped separately as a spare part(Without license)
		License certificate only
	PROFIBUS slave board (PCI Express board)	Shipped after mounted on the controller(With license)
		Shipped separately as a spare part(With license)
		Shipped separately as a spare part(Without license)
		License certificate only
	EtherNet/IP Adapter board (PCI Express board)	Shipped after mounted on the controller(With license)
		Shipped separately as a spare part(With license)
		Shipped separately as a spare part(Without license)
		License certificate only
	Electric Gripper Control board (PCI board)	Shipped after mounted on the controller(With license)
		Shipped separately as a spare part(With license)
		Shipped separately as a spare part(Without license)
		License certificate only
VGA option for RC 8	VGA junction cable set*1	VGA junction cable VGA connector is mounted on the controller before shipping.
Options for Installation	Stay set for wall-mount	Wall-mount / Floor-mount

*1.Choose this option when ordering the controller, if needed.

Item / Specifications
For HS·HM·VM·VP·XR Series VS-6556·VS-6577 Standard cable (for standard type)	Straight	2 m
		4 m
		6 m
		12 m
		20 m
	Angle	2 m
		4 m
		6 m
		12 m
		20 m
For HS·HM·VM·VP·XR Series VS-6556·VS-6577 Splash-proof cable (for dust- & splash-proof type and cleanroom type)	Straight	2 m
		4 m
		6 m
		12 m
		20 m
	Angle	2 m
		4 m
		6 m
		12 m
		20 m
XYC Series Standard cable	Straight	4 m
XYC Series Standard cable	Straight	6 m
For VS-050/VS-060/ VS-068/VS-087	Straight	2 m
		4 m
		6 m
		12 m
		20 m
	Angle	2 m
		4 m
		6 m
		12 m
		20 m