| Name | C3 | |
|---|---|---|
| Degree of freedom | 6 | |
| Max. Motion Range | P point: through the center of J4/J5/J6 | 600 mm |
| Wrist flange surface | 665 mm | |
| Payload | Rated | 1 kg |
| Max. | 3 kg (5 kg*1) | |
| Cycle time (1 kg load) | 0.37 sec | |
| Max. Operating speed | Arm #1*2 | ±170 deg*3 |
| Arm #2 | +65 deg,-160 deg | |
| Arm #3 | +225 deg,-51 deg | |
| Arm #4 | ±200 deg | |
| Arm #5 | ±135 deg | |
| Arm #6 | ±360 deg | |
| Max. Operating speed | Arm #1 | 450 deg/s |
| Arm #2 | 450 deg/s | |
| Arm #3 | 514 deg/s | |
| Arm #4 | 553 deg/s | |
| Arm #5 | 553 deg/s | |
| Arm #6 | 720 deg/s | |
| Allowable moment of inertia (GD2/4) *4 |
Arm #4 | 0.15kg·m2 |
| Arm #5 | 0.15kg·m2 | |
| Arm #6 | 0.1kg·m2 | |
| Installed wire for customer use | 4 pneumatic tube (Ø4 mm×4) | |
| Calibration | No Calibration required | |
| Weight | 27 kg | |
| Environmental spec | Standard/Cleanroom*5 | |
| Available controller | RC180 | |
*1 Depends on wrist direction
*2 The arm#1 maximum motion range of wall mount type is different. Contact EPSON for detail information.
*3 ±180 deg without Mechanical stop Please contact us for details.
*4 In the case where the center of gravity is at the center of each arm. If the center of gravity is not at the center of each arm, set the inertia parameter by INERTIA command.
*5 Class ISO 3 (ISO14644-1) = previous "Clean class 10"
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