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11
Maintenance par
ts
11-2
2. Basic specification
R6YXE400
R6YXE610
R6YXE710
Axis
specifications
X-axis
Arm length
225mm
335mm
435mm
Rotation
angle
±132°
±134°
Y-axis
Arm length
175mm
275mm
Rotation
angle
±150°
±152°
Z-axis
Stroke
150mm
200mm
R-axis
Rotation
angle
±360°
Motor
X-axis
200W
400W
Y-axis
100W
200W
Z-axis
R-axis
Maximum speed
XY resultant
6m/s
8.6m/s
9.5m/s
Z-axis
1.1m/s
2m/s
R-axis
2600°/s
Repeatability (*1)
XY-axes
±0.01mm
±0.01mm
±0.02mm
Z-axis
±0.01mm
R-axis
±0.01°
Payload
4kg (*2)
10kg (*5)
Standard cycle time (*3)
0.41s
0.39s
0.42s
R-axis tolerable moment of inertia (*4)
0.05kgm
2
0.3kgm
2
User wiring
0.2sq×10
0.2sq×20
User tubing
φ
4×3
φ
6×3
Travel limit
1. Soft limit 2. Mechanical stopper (X, Y, Z-axis)
Robot cable
Standard: 3.5m Option: 5m, 10m
Weight
17kg
25kg
26kg
*1: This is the value at a constant ambient temperature.
*2: User wiring/tubing through spline type (option) are 3kg.
*3: When moving a 2 kg load back and forth 300mm horizontally and 25mm vertically (rough positioning arch motion).
*4: The acceleration coefficient is automatically set by setting the tip weight and R-axis inertia moment offset.
*5: 9 kg for tool flange mounting or user wiring and piping spline through specification (option).
Summary of Contents for SCARA R6Y XE Series
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