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Specification of robot arm
Model
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RV-1A |
RV-2AJ |
| Degree of freedom |
|
6 |
5 |
| Installation posture |
|
On floor, hanging |
| Structure |
|
Vertical, multiple-joint
type |
| Drive system |
|
AC servo motor |
| Position detection
method |
|
J1 to J3 : 50W
with brake,
J4,J6 : 15W no brake, J5 : 15Wwith brake |
| Type |
|
Absolute encoder |
| Arm
length |
Shoulder shift |
mm |
0 |
| Upper arm |
250 |
| Fore arm |
160 |
| Elbow shift |
90 |
0 |
| Wrist length |
72 |
| Motion range |
J1 |
Degree |
300
(-150 to +150) |
| J2 |
180
(-60 to +120) |
| J3 |
95 (+60
to +155) |
230 (-110
to +120) |
| J4 |
320 (-160
to +160) |
- |
| J5 |
180
(-90 to +90) |
| J6 |
400
(-200 to +200) |
| Speed of motion |
J1 |
Degree/s |
180 |
| J2 |
90 |
| J3 |
135 |
| J4 |
180 |
- |
| J5 |
180 |
| J6 |
210 |
| Maximum resultant
velocity |
mm/s |
2200 |
2100 |
| Load capacity |
Maximum (Note1) |
kg |
1.5 |
2 |
| Rating |
1 |
1.5 |
| Position repeatability |
mm |
0.02 |
| Ambient temperature |
oC |
0
- 40 |
| mass |
kg |
19 |
17 |
| Allowable moment |
J4 |
N
 m |
1.44 |
- |
| J5 |
1.44 |
2.16 |
| J6 |
0.73 |
1.10 |
| Allowable inertia |
J4 |
kg
m2 |
2.16 ×
10-2 |
- |
| J5 |
2.16 ×
10-2 |
3.24 ×
10-2 |
| J6 |
5.62 ×
10-3 |
8.43 ×
10-3 |
Arm
reachable radius
(front p-axis center point)
|
mm |
418 |
410 |
| Tool
pneumatic pipes |
|
 4 × 4 |
| Supply
pressure |
MPa |
0.5
10% |
| Protection
specification |
|
IP30 |
Note1)
The maximum load capacity is the mass with the
flange
posture facing downword at the ±10 degree
limit.
Note2) When using the 4-point hand output, the
pneumatic hand interface (option) is required.
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