Position detection
Absolute encoder
Drive motor
AC servomotors for all joints
Brake
Brakes for all joints
Overall arm length(first arm + second arm)
VS-068
1: 340 mm
2: 340 mm
VS-087
1: 445 mm
2: 430 mm
Axis combination
J1 Axis + J2 Axis + J3 Axis + J4 Axis + J5 Axis + J6 Axis
Maximum motion area(Point P)
710 mm / 905 mm
Motion range
J1: ±170°
J2: +135°, -100°
J3: +153°, -120° / +153°, -136°
J4: ±270°
J5: ±120°
J6: ±360°
Maximum composite speed(at the center of an end-effector mounting face)
(RC7) 11,000 mm/sec, (RC8) 11,290 mm/sec / (RC7) 11,000 mm/sec, (RC8) 11,380 mm/sec
Cycle time(*1)
(RC7) 0.33 sec, (RC8) 0.31 sec / (RC7) 0.36 sec, (RC8) 0.34 sec
Position repeatability(at the center of an end-effector mounting face)(*2)
±0.02 mm / ±0.03 mm
Maximum allowable inertia moment(Inertia)
J4, J5: 0.45 kgm²
J6: 0.1 kgm²
Maximum allowable moment
J4, J5: 16.2 Nm
J6: 6.86 Nm
Signal line
10(for proximity sensor signals, etc.)(*5,6)
Air Piping(*3)
7 systems(φ4×6,φ6×1)[solenoid valves can be selected from 1 to 3]
1.Solenoid Valve(2Position,Double Solenoids)×3
2.Solenoid Valve(3Position,Exhaust Center)×3
3.Solenoid Valve(3Position,Closed Center)×3
Air source Operating pressure
0.20 - 0.39 MPa
Air source Maximum allowable pressure
0.49 MPa
Maximum allowable pressure
65dB or less
Degree of protection
IP40