108
Viper 650 and 850 Robot with EtherCAT
21861-000 Rev A
1A
2A
3A
1B
2B
3B
A
IR
2
C
N
2
1
J6
+
-
±360°
J4
+
-
±190°
59
51
67
79
R653.42
R233.79
187.7 (Note 1)
Note 1: On IP-54/65 and
Cleanroom robots,
clearance dimension for
cables is 222 mm.
Point P
J1
+
-
170°
170°
Workable space
defined by point P
Figure 8-2. Viper 650 Robot Top View Dimensions (units in mm)