2-6
Standard specifications
2Robot arm
2 Robot arm
2.1 Standard specifications
2.1.1 Standard specifications
Table 2-1 ： Tab Standard specifications of robot
Item Unit Specifications
Type RV-6S RV-6SC RV-6SL RV-6SLC
Type of robot
6-axis standard arm 6-axis long arm
Standard
Clean
(Special Specifications)
Standard
Clean
(Special Specifications)
Degree of freedom
6
Installation posture On floor, hanging On floor On floor, hanging On floor
Structure Vertical, multiple-joint type
Drive system AC servo motor (brake provided on all axes)
Position detection method Absolute encoder
Arm length
Upper arm
mm
280 380
Fore arm 315 425
Operating
range
Waist (J1)
Degree
340(-170 to +170)
Shoulder (J2) 227(-92 to +135)
Elbow (J3) 273(-107 to +166) 295(-129 to +166)
Wrist twist (J4) 320(-160 to +160)
Wrist pitch (J5) 240(-120 to +120)
Wrist roll (J6) 720(-360 to +360)
Speed of
motion
Waist (J1)
Degree/
s
401 250
Shoulder (J2) 321 267
Elbow (J3) 401 267
Wrist twist (J4) 352
Wrist pitch (J5) 450
Wrist roll (J6) 660
Maximum resultant velocity
Note1)
Note1) This is the value on the hand flange surface when all axes are combined.
mm/sec Approx. 9,300 Approx. 8,500
Load Maximum
Note2)
Note2) The maximum load capacity is the mass with the flange posture facing downword at the ± 10°limit.
kg
6
Rating 5
Pose repeatability
Note3)
Note3) The pose repeatability details are given in Page 7, "2.2.1 Pose repeatability"
mm ± 0.02
Ambient temperature ℃ 0 to 40
Mass kg Approx. 58 Approx. 60
Allowable
moment load
Wrist twist (J4)
N･m
12
Wrist pitch (J5) 12
Wrist roll (J6) 4.5
Allowable
inertia
Wrist twist (J4)
kg ･ m
2
0.29
Wrist pitch (J5) 0.29
Wrist roll (J6) 0.046
Note4)
Note4) Up to 0.092kg ･ m
2
can be supported by performing variable acceleration/deceleration control and also by setting the
load inertia.
Arm reachable radius froot p-axis
center point
mm 696 902
Tool wiring
Note5)
Note5) The air hand interface (option) is required when the tool (hand) output is used. Also, if the solenoid set (option) is
used, eight points of hand outputs are used for other options. ｡
Hand input 8 point / hand output 8 point
Six spare wires :
AWG#28(0.1mm
2
)
(shielded)
Four spare wires :
AWG#24(0.2mm
2
)
Six spare wires :
AWG#28(0.1mm
2
)
(shielded)
Four spare wires :
AWG#24(0.2mm
2
)
Tool pneumatic pipes Primary side: Φ6 × 2 (Base to fore arm section)
Supply pressure MPa 0.49 ± 10%
Protection specification
Note6)
Note6) The protection specification details are given in Page 10, "2.2.5 Protection specifications and working environment".
J1 to J3 axis : IP54
J4
to J6 axis : IP65
-
J1 to J3 axis : IP54
J4
to J6 axis : IP65
-
Degree of cleanliness
Note7)
Note7) The clean specification details are given in Page 11, "2.2.6 Clean specifications" .A down flow(0.3m/s or more) in the
clean room is the necessary conditions for the cleanliness.
-
10(0.3μm)
Internal suction
requirement
-
10(0.3μm)
Internal suction
requirement
Painting color Light gray （Equivalent to Munsell: 0.8GY7.64/0.81)
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