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Model | M-710iC/12L | M-710iC/20L | M-710iC/20M | |
Mechanism | Articulated Robot | |||
Number of controlled axes | 6-axis (J1、J2、J3、J4、J5、J6) | |||
Reachable radius | 3123 mm | 3110 mm | 2582 mm | |
Installation method (Note 1) | Ground installation, ceiling installation, tilt angle installation | |||
Range of motion (maximum speed) (Note 2) | J1 axis rotation | 360°(180%s) | 360°(175/s) | 360°(175%s) |
J2 axis rotation | 225°(180%s) | 225°(175%s) | 225°(175/s) | |
J3 axis rotation | 434°(180/s) | 432°(180%s) | 435°(180%s) | |
J4 axis wrist rotation | 400°(400/s) | 400°(350/s) | 400°(350/s) | |
J5-axis wrist swing | 380°(430%) | 280°(360%s) | 280°(360%s) | |
J6 axis wrist rotation | 720°(630/s) | 900°(600/s) | 900°(600/s) | |
Wrist load capacity | 12 kg | 20 kg | ||
J3 Shell Portable Mass (Note 3) | 24 kg | |||
Wrist allowable load torque | J 4 axis | 22.0 N ·m 2.24 kgf m | 39.2 N ·m 4.0 kgf m | |
J5 axis | 22.0 N ·m 2.24 kgf ·m | 39.2 N ·m 4.0 kgf ·m | ||
J6 axis | 9.8 N ·m 1.0 kgf m | 19.6 N ·m 2.0 kgf ·m | ||
Wrist allowable load Moment of inertia | J4 axis | 0.65 kg ·m²6.6 kgf cm · s² | 0.88 kg ·m²9.0 kgf cm · s² | |
J5 axis | 0.65 kg ·m26.6 kgf cm · s2 | 0.88 kg ·m²9.0 kgf ·cm · s² | ||
J6 axis | 0.17 kg ·m²1.7 kgf cm · s2 | 0.25 kg ·m²2.5 kgf cm · s² | ||
Drive mode | Electrical servo drive using AC servo motors | |||
Repeatability (Note 4) | ±0.06 mm | |||
Robot quality (note 5) | 540 kg | 530 kg | ||
Installation conditions | Ambient temperature: 0~45℃ Ambient humidity: usually below 75%RH (no condensation) Short term below 95%RH (within 1 month) Vibration acceleration: below 4.9m/s²(0.5G) | |||
Note 1) When the tilt angle is installed, the range of motion of the J1 and J2 axes is limited. |