2Robot arm
Standard specifications 2-3
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-12SD
RV-12SDC
RV-12SDL
RV-12SDLC
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
Shoulder shift
mm
150
150
Upper arm
400
560
Fore arm
530
670
Elbow shift
80
80
Wrist length
97
97
Operating
range
Waist (J1)
Degree
340(-170 to +170)
Shoulder (J2)
230(-100 to +130)
Elbow (J3)
290(-130 to +160)
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
276
230
Shoulder (J2)
230
172
Elbow (J3)
267
200
Wrist twist (J4)
352
Wrist pitch (J5)
375
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. 9,600
Approx. 9,500
Load
Maximum
Note2)
Note2) The maximum load capacity is the mass with the flange posture facing downword at the ± 10°limit.
kg
12
Rating
10
Pose repeatability
Note3)
Note3) The pose repeatability details are given in
Page 6, "2.2.1 Pose repeatability"
mm
± 0.05
Ambient temperature
℃
0 to 40
mass
kg
Approx. 93
Approx. 98
Allowable
moment load
Wrist twist (J4)
N ･ m
19.3
Wrist pitch (J5)
19.3
Wrist roll (J6)
11
Allowable
inertia
Wrist twist (J4)
kg ･ m
2
0.4
Wrist pitch (J5)
0.4
Wrist roll (J6)
0.14
Note4)
Note4) Up to 0.28kg･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
1,086
1,385
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
Eight spare wires : AWG#27(0.1mm
2
)
(shielded)
Tool pneumatic pipes
Primary side: Φ6 × 2 , Secondary side: Φ6 × 8
Supply pressure
MPa
0.49 ± 10%
Protection specification
Note6)
Note6) The protection specification details are given in
Page 7, "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 9, "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: 0.08GY7.64/0.81)
