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5-1
CHAPTER 5 Specifications
1
Robot Manipulator
1-1
Basic specifications
Robot model
Axis
specifi-
cations
Motor
Maximum speed
Repeatability *1
Payload
R-axis tolerable moment of inertia *2
User wiring
User tubing (Outer diameter)
Travel limit
Robot cable
Weight
X-axis
Y-axis
Z-axis
R-axis
Arm length
Rotation angle
Arm length
Rotation angle
Stroke
Rotation angle
X-axis
Y-axis
Z-axis
R-axis
XY resultant
Z-axis
R-axis
XY-axes
Z-axis
R-axis
R6YXP250
125mm
±115
°
125mm
±130
°
150mm
±180
°
200W
100W
100W
100W
4.0m/s
1.0m/s
1020
°
/s
±0.01mm
±0.01mm
±0.005
°
3kg
R6YXP350
225mm
±115
°
125mm
±130
°
150mm
±180
°
200W
100W
100W
100W
5.0m/s
1.0m/s
1020
°
/s
±0.01mm
±0.01mm
±0.005
°
3kg
R6YXP400
225mm
±115
°
175mm
±140
°
150mm
±180
°
200W
100W
100W
100W
6.0m/s
1.0m/s
1020
°
/s
±0.01mm
±0.01mm
±0.005
°
3kg
10 cables
4
x
3
10 cables
4
x
3
10 cables
4
x
3
15kg
15kg
3.5m (option: 5m, 10m)
*1 At constant ambient temperature (XY)
*2 There are limits to acceleration coefficient settings.
0.05kgm
2
(0.5kgfcms
2
)
1.Soft limit 2.Mechanical limit (XYZ-axes)
15kg
Summary of Contents for R6YXP1000
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