Model | R-1000iA180F | R-10001iA100F | R-1000iA/130F | R-1000iA/80H | |||
Mechanism | Articulated Robot | ||||||
Number of controlled axes | 6-axis(J1、J2、J3、J4、J5、J6) | 5-axis(J1、J2、J3、J4、J5) | |||||
Reachable radius | 2230 mm | ||||||
Installation | Ground installation, ceiling installation | ||||||
Range of motion (maximum speed) Note 1) | J1 axis rotation | 360°(170°/s)6.28 rad(2.97 rad/s) | 360°(130°/s)6.28 rad(2.27 rad/s) | 360°(130°/s)6.28rad(2.27rad/s) | 360°(185°/s)6.28 rad(3.23 rad/s) | ||
J2 axis rotation | 245°(140°/s)4.28 rad(2.44 rad/s) | 245°(110°/s)4.28 rad(1.92 rad/s) | 245°(110°/s)4.28rad(1.92rad/s) | 245°(180°/s)4.28 rad(3.14 rad/s) | |||
J3 axis rotation | 360°(160°/s)6.28 rad(2.79 rad/s) | 360°(120°/s)6.28 rad(2.09 rad/s) | 360°(120°/s)6.28rad(2.09rad/s) | 215°(180°/s)3.75 rad(3.14 rad/s) | |||
J4-axis wrist rotation (/80H: wrist swing) | 720°(230°/s)12.57 rad(4.01 rad/s) | 720°(170°/s)12.57 rad(2.97 rad/s) | 720°(170°/s)12.57rad(2.97rad/s) | 20°(180°/s)0.35 rad(3.14 rad/s) | |||
J5 axis wrist rotation | 250°(230°%s)4.36 rad(4.01 rad/s) | 250°(170°/s)4.36 rad(2.97 rad/s) | 250°(170°/s)4.36rad(2.97rad/s) | 720°(500°/s)12.57 rad(8.73 rad/s) | |||
J6-axis wrist rotation | 720°(350°/s)12.57 rad(6.11 rad/s) | 720°(250°/s)12.57 rad(4.36 rad/s) | 720°(250°/s)12.57rad(4.36rad/s) |
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Wrist load capacity | 80 kg(A) | (A)+(B)<80kg | 100 kg | 130 kg | 80 kg(A) | (A)+(B)<80kg | |
J3 arm can carry mass |
| 20 kg(C) | 20 kg(C) |
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J3 base part can carry mass | 15 kg(B) | 20 kg(D) (C)+(D)<20kg | 20 kg (D) (C)+(D)<20kg | 15 kg(B) | |||
Wrist allowable load torque | J 4 axis | 380 N ·m 38.8 kgf ·m | 690 N ·m 70.4 kgf m | 800 N ·m 81.6 kgf m | Note 3) | ||
J 5 axis | 380 N ·m 38.8 kgf ·m | 690 N ·m 70.4 kgf-m | 800 Nm 81.6 kgf m | ||||
J 6 axis | 200 N ·m 20.4 kgf m | 260 N ·m 26.5 kgf m | 360 N ·m 36.7 kgf m |
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Wrist allowable load Moment of inertia | J 4 axis | 30 kg ·m²306.1 kgf cm ·s² | 57 kg ·m²581.6 kgf cm ·s² | 71 kg ·m²724.5 kgf-cm ·s² | 48 kg ·m²489.8 kgf-cm ·s² | ||
J5 axis | 30 kg ·m²306.1 kgf cm ·s² | 57 kg ·m²581.6 kgf cm ·s² | 71 kg ·m²724.5 kgf cm ·s² | 25 kg m² 255.1 kgf cm ·s² | |||
J 6 axis | 20 kg ·m²204.1 kgf cm ·s² | 32 kg ·m²326.5 kgf cm ·s² | 38 kg ·m²387.8 kgf-cm ·s² |
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Drive mode | Electrical servo drive using AC servo motors | ||||||
Repeatability Note 4) | ±0.03 mm | ||||||
Robot Quality Note 5) | 620 kg | 665 kg 675 kg | 610 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) The maximum speed may not be achieved when moving short distances. | |||||||
Note 2) The wrist flange is always kept in a downward position by controlling the wrist angle. The wrist flange tilt angle can be fine-tuned within a maximum range of ±10°. | |||||||
Note 3) The maximum distance from the center of the wrist flange to the center of gravity of the load is limited by the wrist load and inertia. | |||||||
Note 4) Conforms to ISO 9283. | |||||||
Note 5) Does not include control device part. | |||||||
