| Model*1 | 4-axis configuration | 3-axis configuration | |||
|---|---|---|---|---|---|
| G1-171x | G1-221 | G1-171xZ | G1-221xZ | ||
| Arm length | 175mm | 225mm | 175mm | 225mm | |
| 1st arm length | 75mm | 125mm | 75mm | 125mm | |
| 2nd arm length | 100mm | 100mm | |||
| Motion Range (Cleanroom config.) |
J1 | ±125deg | ±125deg | ||
| J2 | ±140deg | ±152(±149)deg | ±135(±123)deg | ±135(±132)deg | |
| J3 | 100(80)mm | 100(80)mm | |||
| J4 | ±360deg | - | |||
| Payload | Max./ Rated | 1(0.5)kg | 1.5(0.5)kg | ||
| U Inertia | Max./ Rated | 0.004(0.0003)kgm2 | - | ||
| Max. Speed | J1+J2 | 2630mm/s | 3000mm/s | 2630mm/s | 3000mm/s |
| J3 | 1200mm/s | 1200mm/s | |||
| J4 | 3000deg/s | - | |||
| Cycle Time*2 | 0.29sec | 0.30sec | 0.29sec | 0.30sec | |
| Weight | 8kg | 8kg | |||
| Repeatability | J1+J2 | ±0.005mm | ±0.008mm | ±0.005mm | ±0.008mm |
| J3 | ±0.01mm | ±0.01mm | |||
| J4 | ±0.01deg | - | |||
| Environmental | ISO3Clean + ESD | ||||
| User Lines-Electric | 24pin (D-sub9 + D-sub15) | ||||
| User Lines-Air | φ4mm×1, φ6mm×2 | ||||
| Available Controller | RC180 | ||||
*1 Model names: The"x" in the model names will be "S" for standard configurations, and "C" for Cleanroom configurations.
*2 For payload of 0.5kg / horizontal movement 100mm / perpendicular movement 25mm
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