Chapter 8: Technical Specifications
Performance
Specification Viper 650 Viper 850
Maximum joint speed J1: 328°/sec
J2: 300°/sec
J3: 375°/sec
J4: 375°/sec
J5: 375°/sec
J6: 600°/sec
J1: 250°/sec
J2: 250°/sec
J3: 250°/sec
J4: 375°/sec
J5: 375°/sec
J6: 600°/sec
Maximum composite speed (at the center
of an end-effector mounting face)
8200 mm/s 7600 mm/s
Maximum payload 5 kg
Position repeatability (Note 2) In each of X, Y and Z dir-
ections: ±0.02 mm
In each of X, Y and Z dir-
ections: ±0.03 mm
Maximum allowable inertia moment Around J4: 0.295 kgm
2
Around J5: 0.295 kgm
2
Around J6: 0.045 kgm
2
Note 2: Position repeatability is the value at constant ambient temperature.
05173-060 M Viper 650/850 Robot with eMB-40/60R User's Guide 121
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