Chapter 8: Technical Specifications
Table 8-1. General Robot Specifications
Item Viper 650 Robot
Specification
Viper 850 Robot
Specification
Reach 653 mm 854 mm
Payload—rated 2.5 kg
Payload—maximum 5 kg
Encoder types Absolute
Drive Motor and Brakes AC servomotors for all joints,
Brakes for joints J2 through J6
Weight (without options) 34 kg 36 kg
8.3 Performance Specifications
This section provides the robot's performance specifications.
General Performance Information
The following table provides general performance information for the robot.
Table 8-2. General Robot Performance Information
Performance Item Viper 650 and Viper 850 Robots
Maximum Moment of Inertia Joint 4 and 5 - 0.295 kg-m
2
Joint 6 - 0.045 kg-m
2
Repeatability X, Y, Z: ±0.02 mm X, Y, Z: ±0.03 mm
Joint ranges Joint 1: ±170°
Joint 2: -190°, +45°
Joint 3: -29°, +256°
Joint 4: ±190°
Joint 5: ±120°
Joint 6: ±360°
Maximum Joint speeds Joint 1: 328°/sec Joint 1: 250°/sec
Joint 2: 300°/sec Joint 2: 250°/sec
Joint 3: 375°/sec Joint 3: 250°/sec
Joint 4: 375°/sec Joint 4: 375°/sec
Joint 5: 375°/sec Joint 5: 375°/sec
Joint 6: 600°/sec Joint 6: 600°/sec
21861-000 Rev A Viper 650 and 850 Robot with EtherCAT 113
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