Model | R-2000iC/270F | R-2000iC/210L | |||
Mechanism | Multi-jointed robot | ||||
Number of controlled axes | 6 axes (J1, J2, J3, J4, J5, J6) | ||||
Reachable radius | 2655 mm | 3100 mm | |||
Installation | Ground installation | ||||
Range of motion (Maximum speed) Note 1) | J1 axis rotation | 370°(105°%s)6.46 rad (1.83 rad/s) | |||
J2 axis rotation | 136°(90°/s) 2.37 rad(1.57 rad/s) | ||||
J3 axis rotation | 312°(85°/s) 5.45 rad(1.48 rad/s) | 301°(85°/s) 5.25 rad(1.48 rad/s) | |||
J4 axis wrist rotation | 720°(120/s)12.57 rad(2.09 rad/s) | ||||
J5-axis wrist swing | 250°(120/s) 4.36 rad(2.09 rad/s) | ||||
J6-axis wrist rotation | 720°(200/s)12.57 rad(3.49 rad/s) | ||||
Wrist load capacity | 270 kg | 210 kg | |||
J2 machine base can handle mass | 550 kg | 550 kg | |||
J3 arm can carry mass | 40 kg(A) | (A)×5/4+(B)≤50kg | 20 kg(C) | (C)×5/2+(D)≤50kg | |
J3 housing can handle mass | 50 kg(B) | 50 kg(D) | |||
Wrist allowable load torque | J4 axis | 1730 N ·m 177 kgf ·m | 1700 N ·m 173 kgf ·m | ||
J5 axis | 1730 N ·m 177 kgf ·m | 1700 N ·m 173 kgf ·m | |||
J6 axis | 900 N ·m 92 kgf ·m | 900 N ·m 92 kgf ·m | |||
Wrist allowable load Moment of inertia | J4 axis | 320 kg ·m² 3265 kgf cm · s² | 320 kg ·m² 3265 kgf cm · s² | ||
J5 axis | 320 kg ·m² 3265 kgf cm · s² | 320 kg ·m² 3265 kgf cm · s² | |||
J6 axis | 230 kg ·m 2347 kgf cm · s² | 230 kg ·m² 2347 kgf ·cm · s2 | |||
Drive mode | Electrical servo drive using AC servo motors | ||||
Repeatability Note 2) | ±0.05mm | ||||
Robot Quality Note 3) | 1320 kg | 1350 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 measurement results are in accordance with ISO 9283 “Industrial robots performance specifications and test methods”. | |||||
Note 3) Control device part is not included. | |||||
