शिल्पीय छः-अक्षीय रोबोट

Degrees of Freedom

6

6

6

6

6

6

6

Rated Load

3kg

7kg

7kg

7kg

12kg

15kg

20kg

Maximum Working Radius

571.5mm

731.6mm

731.6mm

911.5mm

1551mm

2000mm

1800mm

Repeat Positioning Accuracy

±0.02mm

±0.02mm

±0.02mm

±0.02mm

±0.02mm

±0.02mm

±0.02mm

Range of Motion

J1

±180°

±155°

±155°

±155°

±170°

±165°

±165°

J2

-155°/+5°

-180°/+44°

-180°/+44°

-180°/+44°

-175°/+60°

-165°/75°

-165°/75°

J3

-20° /+240°

-17°/+251°

-17°/+251°

-17°/+251°

+55°/+255°

-15°/260°

-15°/260°

J4

±180°;

±180°

±180°

±180°

±180°

±170°

±170°

J5

±95°

±120°

±120°

±120°

±108°

±140°

±140°

J6

±360°

±360°

±360°

±360°

±360°

±400°

±400°

Maximum Speed

J1

375°/s, 6.54rad/s

450°/s, 7.85rad/s

450°/s, 7.85rad/s

450°/s, 7.85rad/s

197°/s, 3.44rad/s

220°/s, 3.84rad/s

220°/s, 3.84rad/s

J2

375°/s, 6.54rad/s

360°/s, 6.28rad/s

360°/s, 6.28rad/s

360°/s, 6.28rad/s

197°/s, 3.44rad/s

205°/s, 3.58rad/s

205°/s, 3.58rad/s

J3

375°/s, 6.54rad/s

445.7°/s, 7.78rad/s

445.7°/s, 7.78rad/s

445.7°/s, 7.78rad/s

197°/s, 3.44rad/s

220°/s, 3.84rad/s

220°/s, 3.84rad/s

J4

375°/s, 6.54rad/s

450°/s, 7.85rad/s

450°/s, 7.85rad/s

450°/s, 7.85rad/s

600°/s, 10.47rad/s

330°/s, 5.76rad/s

330°/s, 5.76rad/s

J5

375°/s, 6.54rad/s

450°/s, 7.85rad/s

450°/s, 7.85rad/s

450°/s, 7.85rad/s

375°/s, 6.54rad/s

420°/s, 7.33rad/s

420°/s, 7.33rad/s

J6

600°/s, 10.46rad/s

450°/s, 7.85rad/s

450°/s, 7.85rad/s

450°/s, 7.85rad/s

600°/s, 10.47rad/s

670°/s, 11.7rad/s

670°/s, 11.7rad/s

Permissible Moment of Inertia

J6

0.04kgm3

0.26kgm3

0.26kgm3

0.26kgm3

0.17kgm3

2.8kgm3

2.8kgm3

J5

0.05kgm3

0.36kgm3

0.36kgm3

0.36kgm3

1.2kgm3

2.2kgm3

2.2kgm3

J4

0.05kgm3

0.37kgm3

0.37kgm3

0.37kgm3

1.2kgm3

1kgm3

1kgm3

Permissible Load Torque

J6

6.4Nm

13.3Nm

13.3Nm

13.3Nm

15Nm

60Nm

60Nm

J5

6.4Nm

14.1Nm

14.1Nm

14.1Nm

35Nm

52Nm

52Nm

J4

12.7Nm

14.1Nm

14.1Nm

14.1Nm

35Nm

32Nm

32Nm

Applicable Environment

Temperature

0-45℃

0-45℃

0-45℃

0-45℃

0-45℃

0-45℃

0-45℃

Humidity

20%-80%

20%～80%

20%～80%

20%～80%

20%～80%

20%～80%

20%～80%

Others

Avoid contact with flammable, explosive, or corrosive gases and liquids; keep away from electronic noise sources (plasma).

Avoid contact with flammable, explosive or corrosive gases and liquids; keep away from electronic noise sources (plasma)

Avoid contact with flammable, explosive or corrosive gases and liquids; keep away from electronic noise sources (plasma)

Avoid contact with flammable, explosive, or corrosive gases and liquids; stay away from electronic noise sources (plasma).

Avoid contact with flammable, explosive, or corrosive gases and liquids; keep away from electronic noise sources (plasma).

Avoid contact with flammable, explosive, or corrosive gases and liquids; keep away from electronic noise sources (plasma).

Avoid contact with flammable, explosive, or corrosive gases and liquids; keep away from electronic noise sources (plasma).

Teach Pendant Cable Length

8m

8m

8m

8m

8m

8m

8m

Main Body to Cabinet Connection Cable Length

3m

3m

3m

3m

5m

5m

5m

I/O Parameters

Digital: 32-bit input , 32-bit output

Digital: 32-bit input , 32-bit output

Digital: 32-bit input , 32-bit output

Digital: 32 Inputs (NPN), 32 Outputs (NPN)

Digital: 32-bit input，32-bit output 

Digital: 32-bit input (NPN), 31-bit output (NPN)

Digital: 32-bit input (NPN), 31-bit output (NPN)

Reserved Signal Lines on Main Body

12bits

12bits

12bits

12 bits

12 bits

24 lines

24 lines

Reserved Airway

1xφ6

4xφ4

4xφ4

4xφ4

1xφ8

3xφ8

3xφ8

Power Capacity

0.8kVA

2.14kVA

2.14kVA

2.14kVA

4.5kVA

6.9kVA

6.9kVA

Rated Power/Voltage/Current

0.6kW/Single-phase AC220V/3.2A

1.7kW/Single-phase AC220V/9.7A

1.7kW/Single-phase AC220V/9.7A

1.71kW/single-phase220V/9.7A

3.5kW/Single-phase AC220V/19A

5kW/Three-phase 380V/9.3A

5kW/Three-phase 380V/9.3A

Protection Level of Main Body/Electric Cabinet

IP54/IP20

IP67/IP20

IP67/IP20

IP67

IP54/IP65(Arm )

IP54 (Arm IP67) / IP54

IP54 (Arm IP67) / IP54

Installation Method

Floor, Side, Inverted Installation

Floor, Inverted, Side-mounted, Any Direction Installation

Floor, Inverted, Side-mounted, Any Direction Installation

Floor, Inverted, Side-mounted, Any Direction Installation

Floor、Inverted、Side Mounting

Floor, inverted, side-mounted, any direction installation

Floor, inverted, side-mounted, any direction installation

Weight of Main Body/Electric Cabinet

27kg/12kg

50kg/15kg

50kg/15kg

52kg/15kg

182kg/12kg

285kg/28kg

285kg/28kg

Degrees of Freedom

6

6

6

6

6

6

6

Rated Load

30kg

50kg

70kg

210kg

165kg

300kg

360kg

Maximum Working Radius

1800mm

2400mm

2154mm

2700mm

3100mm

3000mm

2700mm

Repeat Positioning Accuracy

±0.05mm

±0.08mm

±0.05mm

±0.05

±0.05mm

±0.06mm

±0.06mm

Range of Motion

J1

±165°

±180°

±185°

±180°

±180°

±180°

±180°

J2

-165°/75°

-160°/70°

-170°/+70°

-13°/-152°

-13°/-152°

0°/-150°

0°/-150°

J3

-15°/260°

+10°/265°

-15°/+260°

+6°/ +260°

+6°/ +260°

+115°/+245°

+115°/+245°

J4

±170°

±360°

±165°

±180°

±180°

±200°

±200°

J5

±140°

±105°

±130°

±120°

±120°

±120°

±120°

J6

±400°

±360°

±400°

±360°

±360°

±360°

±360°

Maximum Speed

J1

220°/s, 3.84rad/s

127°/s, 2.21rad/s

180°/s, 3.14rad/s

125°/s, 2.18 rad/s

97°/s, 1.69rad/s

110°/s, 1.92rad/s

110°/s, 1.92rad/s

J2

150°/s, 2.62rad/s

127°/s, 2.21rad/s

150°/s, 2.62rad/s

115°/s, 2.01 rad/s

76°/s, 1.33rad/s

100°/s, 1.74rad/s

100°/s, 1.74rad/s

J3

200°/s, 3.49rad/s

104°/s, 1.81rad/s

180°/s, 3.14rad/s

115°/s, 2.01 rad/s

76°/s, 1.33rad/s

100°/s, 1.74rad/s

100°/s, 1.74rad/s

J4

330°/s, 5.76rad/s

177°/s, 3.08rad/s

260°/s, 4.54rad/s

155°/s, 2.71 rad/s

137°/s, 2.41rad/s

170°/s, 2.96rad/s

170°/s, 2.96rad/s

J5

360°/s, 6.28rad/s

155°/s, 2.70rad/s

260°/s, 4.54rad/s

160°/s, 2.8 rad/s

160°/s, 2.79rad/s

150°/s, 1.96rad/s

150°/s, 1.96rad/s

J6

500°/s, 8.73rad/s

187°/s, 3.26rad/s

370°/s, 6.46rad/s

220°/s, 3.84 rad/s

220°/s, 3.84rad/s

200°/s, 3.49rad/s

200°/s, 3.49rad/s

Permissible Moment of Inertia

J6

3.6kgm3

25kgm3

20kgm3

137.78 kgm3

137.78kgm3

140kgm3

140kgm3

J5

2.8kgm3

32.7kgm3

30kgm3

190.15 kgm3

190.15kgm3

215kgm3

215kgm3

J4

1.4kgm3

32.7kgm3

30kgm3

190.15 kgm3

190.15kgm3

215kgm3

215kgm3

Permissible Load Torque

J6

90Nm

330Nm

130Nm

735Nm

735Nm

880Nm

880Nm

J5

82Nm

340Nm

215Nm

1365Nm

1365Nm

1700Nm

1700Nm

J4

52Nm

400Nm

215Nm

1365Nm

1365Nm

1700Nm

1700Nm

Applicable Environment

Temperature

0-45℃

0-45℃

0-45℃

0-45℃

0-45℃

0-45℃

0-45℃

Humidity

20%～80%

20%～80%

20%～80%

20%～80%

20%-80%

20%-80%

20%-80%

Others

Avoid contact with flammable, explosive, or corrosive gases and liquids; keep away from electronic noise sources (plasma).

Avoid contact with flammable, explosive or corrosive gases and liquids, stay away from electronic noise sources (plasma)

Avoid contact with flammable, explosive, or corrosive gases and liquids; keep away from electronic noise sources (plasma).

Avoid contact with flammable, explosive, or corrosive gases and liquids; keep away from electronic noise sources (plasma).

Avoid contact with flammable, explosive, or corrosive gases and liquids; keep away from electronic noise sources (plasma).

Avoid contact with flammable, explosive, or corrosive gases and liquids; keep away from electronic noise sources (plasma).

Avoid contact with flammable, explosive, or corrosive gases and liquids; keep away from electronic noise sources (plasma).

Teach Pendant Cable Length

8m

8m

8m

8m

8m

8m

8m

Main Body to Cabinet Connection Cable Length

5m

8m

6m

8m

8m

8m

8m

I/O Parameters

Digital: 32-bit input (NPN), 31-bit output (NPN)

Digital: 32-bit input (NPN), 31-bit output (NPN);

Digital: 32-bit input (NPN), 31-bit output (NPN)

Digital: 31 inputs (NPN), 29 outputs (NPN)

Digital: 31 inputs (NPN), 29 outputs (NPN)

Digital: 31 inputs (NPN), 29 outputs (NPN)

Digital: 31 inputs (NPN), 29 outputs (NPN)

Reserved Signal Lines on Main Body

24 lines (Aviation plug wiring method: soldering)

26 pins (Aviation plug wiring method: soldering)

24 lines (Aviation connector: soldered)

42 pins (Aviation connector wiring method: soldering)

42 lines (Aviation plug wiring method: soldered)

42 lines (Aviation plug wiring method: soldering)

42 lines (Aviation connector wiring method: soldering)

Reserved Airway

3xφ8

2xφ10

4xφ10

2xφ12

2xφ12

2xφ12

2xφ12

Power Capacity

6.9kVA

11kVA

12.2kVA

18.5kVA

18.5kVA

20kVA

20kVA

Rated Power/Voltage/Current

5kW/Three-phase 380V/9.3A

8.8kW/3-phase AC380V/16.8A

9.7kW/3-phase AC380V/18.5A

15kW/3-phase AC380V/25A

15kW/3-phase AC380V/25A

16kW/3-phase AC380V/28A

16kW/3-phase AC380V/28A

Protection Level of Main Body/Electric Cabinet

IP54 (Arm IP67) / IP54

IP54 (Arm IP65)

IP54 (Wrist IP67)

IP54/IP54

IP54/IP54

IP54/IP54

IP54/IP54

Installation Method

Floor, inverted, side-mounted, any direction installation

Floor

Floor, inverted, side mounting

Floor Installation

Floor Installation

Floor Installation

Floor Installation

Weight of Main Body/Electric Cabinet

285kg/28kg

750kg/80kg

594kg/80kg

1150kg/150kg

1170kg/150kg

1740kg/150kg

1720kg/150kg