Epson T-B Series - T6-B Specifications

Appendix A: Specifications
156 T-B series Rev.1
T6-B Specifications
Item
T6-B602S
Arm length
Arm #1, #2
600 mm
Arm #1
325 mm
Arm #2
275 mm
Weight (cables not included)
Approx. 21 kg: 46 lbs.
Driving method
All joints
AC servo motor
Max.
operating speed*1
Joints #1, #2
4180 mm/s
Joint #3
1000 mm/s
Joint #4
1800 °/s
Repeatability
Joints #1, #2
± 0.04 mm
Joint #3
± 0.02 mm
Joint #4
± 0.02°
Max. motion range
Joint #1
± 132°
Joint #2
± 150°
Joint #3
200 mm
Joint #4
± 360°
Max. pulse range
Joint #1
− 152918 ~ 808278
Joint #2
± 341334
Joint #3
− 245760 ~ 0
Joint #4
± 245760
Resolution
Joint #1
0.000275°/pulse
Joint #2
0.000439°/pulse
Joint #3
0.000814 mm/pulse
Joint #4
0.001465°/pulse
Motor rated capacity
Joint #1
300 W
Joint #2
200 W
Joint #3
100 W
Joint #4
100 W
Payload (Load)
Rated
2 kg
Max.
6 kg
Joint #4 allowable
moment of inertia*2
Rated
0.01 kg·m
2
Max.
0.08 kg·m
2
Hand
Shaft diameter
ø 20 mm
Through hole
ø 14 mm
Joint #3 down force
83 N
Hand I/O connector
15 pin: D-sub
Installed pneumatic tube for customer use
2 pneumatic tubes (ø6 mm): 0.59 MPa (6 kgf/cm
2
: 86 psi)
1 pneumatic tubes (ø4 mm): 0.59 MPa (6 kgf/cm
2
: 86 psi)
Mounting hole
150 × 150 mm
4-M8
Environmental
requirements
Ambient temp.
5 ~ 40 °C *3
Ambient relative
humidity
20 ~ 80 % (no condensation)
Noise level *4
L
Aeq
= 70 dB (A) or under