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8
Specifica
tions
8-1
1. Manipulator
1.1
Basic specification
1.1.1 R6YXGL250, R6YXGL350, R6YXGL400, R6YXGL500, R6YXGL600
Robot model
R6YXGL250
R6YXGL350
R6YXGL400
Axis
specifications
X-axis
Arm length
100mm
200mm
250mm
Rotation angle
±140°
Y-axis
Arm length
150mm
Rotation angle
±144°
Z-axis
Stroke
150mm
R-axis
Rotation angle
±360°
Motor
X-axis
200W
Y-axis
150W
Z-axis
50W
R-axis
100W
Maximum speed
XY resultant
4.5m/s
5.6m/s
6.1m/s
Z-axis
1.1m/s
R-axis
1020°/s
Repeatability (*1)
XY-axes
±0.01mm
Z-axis
±0.01mm
R-axis
±0.004°
Payload
Standard specifications 5kg, option specifications 4kg (*3)
R-axis tolerable moment of inertia (*2)
0.05kgm
2
(0.5kgfcms
2
)
User wiring
0.2sq×10 cables
User tubing
4×3
Travel limit
1.Soft limit 2.mechanical stopper (XYZ-axes)
Option
Tool flange
R6YACXGLF
Open shaft
R6YACXGLS
Robot cable
3.5m (option: 5m, 10m)
Weight
18.5kg (*4)
19.0kg (*4)
19.5kg (*4)
*1 At constant ambient temperature (XY)
*2 There are limits to acceleration coefficient settings.
*3 Option specifications … Tool flange mount type
User wiring/tubing through spline type
*4 This is the weight including 10m cable.
* The Z-axis spline may vibrate in a Z-axis operation speed range of 20% to 40% depending on the arm position or Z-axis
position. If the Z-axis spline vibrates, operate it beyond this operation speed range.
Summary of Contents for R6YXG500
Page 1: ...ZX T Series Cat No I155E EN 03A R6Y XG series INSTALLATION MANUAL SCARA Robots XG Series...
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Page 221: ...Chapter 4 Periodic inspection Contents 1 Overview 4 1 2 List of inspection items 4 2...
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Page 227: ...Chapter 5 Harmonic drive replacement period Contents 1 Overview 5 1 2 Replacement period 5 2...
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Page 323: ...8 Specifications 8 77 1 3 Robot inner wiring diagram Robot inner wiring diagram R6YXG500...