OTC FD-B6

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)

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.

Frequently Purchase Together