Epson VT6-A901S Safety And Installation

1. Safety
Safety and Installation (T, VT / EPSON RC+ 7.0) Rev.15 31
1.8 Manipulator Specifications
T series Manipulator
Item
T3-401S T6-602S
Arm length
Arm #1, #2
400 mm
600 mm
Arm #1
225 mm
325 mm
Arm #2
175 mm
275 mm
Weight (cables not included)
16 kg: 35 lbs.
22 kg: 49 lbs.
Driving method
All joints
AC servo motor
Max. operating
speed*1
Joints #1, #2
3700 mm/s
4180 mm/s
Joint #3
1000 mm/s
1000 mm/s
Joint #4
2600°/s
1800°/s
Repeatability
Joints #1, #2
± 0.02 mm
± 0.04 mm
Joint #3
± 0.02 mm
± 0.02 mm
Joint #4
± 0.02°
± 0.02°.
Max.
motion range
Joint #1
± 132°
± 132°.
Joint #2
± 141°
± 150°
Joint #3
150 mm
200 mm
Joint #4
± 360°
± 360°
Max.
pulse range
Joint #1
− 95574 to 505174
− 152918 to 808278
Joint #2
± 320854
± 341334
Joint #3
−187734 to 0
− 245760 to 0
Joint #4
± 71760
± 245760
Resolution
Joint #1
0.000439 °/pulse
0.000275 °/pulse
Joint #2
0.000439 °/pulse
0.000439 °/pulse
Joint #3
0.000799 mm/pulse
0.000814 mm/pulse
Joint #4
0.005017 °/pulse
0.001465 °/pulse
Motor rated capacity
Joint #1
200 W
300 W
Joint #2
100 W
200 W
Joint #3
100 W
Joint #4
100 W
Payload (Load)
Rated
1 kg
2 kg
Max.
3 kg
6 kg
Joint #4 allowable
moment of inertia *2
Rated
0.003 kg·m
2
0.01 kg·m
2
Max.
0.01 kg·m
2
0.08 kg·m
2
Hand
Shaft diameter
ø 16 mm
ø 20 mm
Through hole
ø 11 mm
ø 14 mm
Joint #3 down force
83 N
Hand I/O Connecter
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 tube (ø4 mm) :
0.59 MPa (6 kgf/cm
2
: 86 psi)
Mounting hole
120 × 120 mm
150 × 150 mm
4-M8
Environmental
requirements
Ambient Temp.
5 to 40 °C
(with minimum temperature variation)
Ambient relative
humidity
20 to 80% (no condensation)
Noise level *3
L
Aeq
= 70 dB (A) or under

Epson VT6-A901S Specifications

General

Brand	Epson
Model	VT6-A901S
Category	Robotics
Language	English