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Product Description
Features:
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- Faster Cycle Time
- Slim Design
- User-Friendly Operation
- Stronger Structure
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Manipulator Specifications:
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| Name |
FD-B6 |
| Structure |
Vertical Articulated Type |
| Number of Axes |
6 |
| Max. Payload Capacity (kg) |
6 kg |
| Positional Repeatability (mm) |
±0.08mm (*Note 1) |
| Drive System |
AC Servomotor |
| Drive Capacity (W) |
3132 W |
| Position Feedback |
Absolute Encoder |
| Working Range (°) |
Arm |
J1 |
Rotation |
±170° ( ±50°) (*Note 2) |
| J2 |
Lower Arm |
-155° to +90° (*Note 3) |
| J3 |
Upper Arm |
-170° to +245° (*Note 4) |
| Wrist |
J4 |
Swing |
±155° (±170°) (*Note 5) |
| J5 |
Bending |
-45° to +225° (*Note 6) |
| J6 |
Twist |
±205° (±360°) (*Notes 5 and 6) |
| Maximum Speed (rad/ s [°/ s]) |
Arm |
J1 |
Rotation |
4.19rad/s [240°/s] (3.32rad/s [190°/s] ) (*Note 2) |
| J2 |
Lower Arm |
4.19rad/s [240°/s] |
| J3 |
Upper Arm |
4.01rad/s [230°/s] |
| Wrist |
J4 |
Swing |
7.50rad/s [430°/s] |
| J5 |
Bending |
7.50rad/s [430°/s] |
| J6 |
Twist |
11.00rad/s [630°/s] |
| Allowable Static Load Torque For Wrist (N.m) |
J4 |
Swing |
10.5N・m |
| J5 |
Bending |
10.5N・m |
| J6 |
Twist |
5.9N・m |
| Allowable Moment of Inertia for Wrist (kg.m2) |
J4 |
Swing |
0.28kg・m² |
| J5 |
Bending |
0.28kg・m² |
| J6 |
Twist |
0.06kg・m² |
| Arm Cross-Sectional Area |
3.59m² x 340° |
| Ambient Conditions |
Temp: 0 to 45°C, Hmd: 20 to 80%RH (No Condensation) |
| Mass (weight) |
145kg |
| Upper Arm Payload Capacity |
10kg (Note 7) |
| Installation Type |
Floor, Wall or Ceiling |
| Paint Color |
White (Munsell Notation 10GY 9/ 1) |
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Notes
- Positional repeatability of the tool center point ( TCP ) value complies with the JIS-B-8432 Standard.
- Specifications for wall mounting appear in parentheses.
- The working range of the J2 axis may be restricted when wall-mounted.
- When this unit is mounted on the floor, the working range of the J3 axis is restricted to between -170° and +180°.
- This specification applies when a single-wire power cable is fed through the hollow part of J4 and J6. The value in parentheses represents all other specifications.
- The working range of the J6 axis may be restricted by the specific posture of the J5 axis.
- The capacity of the upper arm varies with the wrist capacity.
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