Epson VT6L

Setup & Operation 2. Specifications
20 VT Rev.1
2.7 Specifications
Item
Specifications
Model Number
VT6-A901S
VT6-A901SR
VT6-A901SW
Model Name
VT6L
Mounting type *1
Table Top mounting
Ceiling mounting
Wall mounting
Weight
(not include the weight of cables or shipping jigs)
40 kg : 89 lb.
Driving method
All joints
AC servo motor
Max. operating speed
*2
Joint #1
183.7°/s
Joint #2
122.5°/s
Joint #3
118.8°/s
Joint #4
271.4°/s
Joint #5
296.8°/s
Joint #6
293.2°/s
Maximum synthetic speed
4522 mm/s
Repeatability
Joint #1 ~ #6
± 0.1 mm
Max. motion range
Joint #1
± 170°
± 30°
Joint #2
− 160° ~ + 65°
Joint #3
− 51° ~ + 190°
Joint #4
± 200°
Joint #5
± 125°
Joint #6
± 360°
Max. pulse range
Joint #1
± 8488472
±1497966
Joint #2
− 9986438 ~ + 4056990
Joint #3
− 2343172 ~ + 8729465
Joint #4
±8048281
Joint #5
± 4599018
Joint #6
± 13410735
Resolution
Joint #1
0.0000200°/pulse
Joint #2
0.0000160°/pulse
Joint #3
0.0000217°/pulse
Joint #4
0.0000248°/pulse
Joint #5
0.0000271°/pulse
Joint #6
0.0000268°/pulse
Motor power
consumption
Joint #1
300 W
Joint #2
300 W
Joint #3
200 W
Joint #4
100 W
Joint #5
100 W
Joint #6
100 W
Payload *3
Rated.
3 kg
Max.
6 kg
Allowable moment
Joint #4
12 N·m (1.22 kgf·m)
Joint #5
12 N·m (1.22 kgf·m)
Joint #6
7 N·m (0.71 kgf·m)
Allowable moment
of inertia *4 (GD
2
/4)
Joint #4
0.3 kg·m
2
Joint #5
0.3 kg·m
2
Joint #6
0.1 kg·m
2