VT6-B Specifications Table
| Item | Specifications | |||||
|---|---|---|---|---|---|---|
| VT6-B901* | VT6-B901*R | VT6-B901*W | ||||
| Machinery name | Industrial robot | |||||
| Product series | VT-B | |||||
| Model | Model Number | |||||
| Model Name | VT6-B | |||||
| Mounting type *\ 1 | Table top mounting | Ceiling mounting | Wall mounting | |||
| Arm length | P: From J1 to the center of J5 | 911.1 mm | ||||
| Maximum reach | From J1 to J6 flange surface | 992.6 mm | ||||
| Manipulator weight | AC | Standard model Cleanroom model | 43 kg: 94.8 lbs. (weight of cables not included) | |||
| Drive system | All joints | AC servo motor | ||||
| Maximum operating speed * 2 | Joint #1 | 166.3°/s | ||||
| Joint #2 | 123°/s | |||||
| Joint #3 | 141.2°/s | |||||
| Joint #4 | AC | Standard model Cleanroom model | 268.7°/s | |||
| Joint #5 | 296.8°/s | |||||
| Joint #6 | AC | Standard model Cleanroom model | 293.2°/s | |||
| Maximum synthetic speed | 4549 mm/s | |||||
| Repeatability | Joint #1 to #6 | ±0.03 mm | ||||
| Maximum motion range | Joint #1 | ±180° | ±30 | |||
| Joint #2 | -160° to +65° | |||||
| Joint #3 | -63° to +193° | |||||
| Joint #4 | ±270° | |||||
| Joint #5 | ±135° | |||||
| Joint #6 | ±540° | |||||
| Max. pulse range (pulse) | Joint #1 | ±8983115 | ||||
| Joint #2 | -9946215 to 4040650 | |||||
| Joint #3 | -2923452 to +8955972 | |||||
| Joint #4 | ±10973833 | |||||
| Joint #5 | ±3518249 | |||||
| Joint #6 | ±9420111 | |||||
| Resolution | Joint #1 | 0.0000200°/pulse | ||||
| Joint #2 | 0.0000161°/pulse | |||||
| Joint #3 | 0.0000215°/pulse | |||||
| Joint #4 | 0.0000246°/pulse | |||||
| Joint #5 | 0.0000384°/pulse | |||||
| Joint #6 | 0.0000573°/pulse | |||||
| Motor rated capacity | Joint #1 | 283 W | ||||
| Joint #2 | 283 W | |||||
| Joint #3 | 283 W | |||||
| Joint #4 | 100 W | |||||
| Joint #5 | 100 W | |||||
| Joint #6 | 100 W | |||||
| Payload (load) *3 | Rated | 3 kg | ||||
| Maximum | 6 kg | |||||
| Allowable moment | Joint #4 | 12 N·m (1.22 kgf·m) | ||||
| Joint #5 | 12 N·m (1.22 kgf·m) | |||||
| Joint #6 | 7 N·m (0.71 kgf·m) | |||||
| Allowable moment of inertia (GD²/4) *4 | Joint #4 | 0.3 kg·m² | ||||
| Joint #5 | 0.3 kg·m² | |||||
| Joint #6 | 0.1 kg·m² | |||||
| Environmental requirements *5 | Ambient temperature | 5 to 40°C | ||||
| Ambient relative humidity | 10 to 80% RH (with no condensation) | |||||
| Vibration | 4.9 m/s² (0.5 G) or less | |||||
| Transportation and Storage | Temperature | -20 to +60°C | ||||
| Humidity | 10 to 90% (with no condensation) | |||||
| Noise level *6 | Laeq = 65 dB(A) or less | |||||
| Environmental Specifications | Standard, Cleanroom: *7 | |||||
| Setting value range | Speed | 1 ~ (5) ~ 100 | ||||
| Accel *8 | 1 ~ (5) ~ 120 | |||||
| SpeedS | 0.1 ~ (50) ~ 2000 | |||||
| AccelS *9 | 0.1 ~ (200) ~ 10000 | |||||
| Fine | 0 ~ (10000) ~ 65535 | |||||
| Weight | 0 ~ (3) ~ 6 | |||||
| Inertia | 0 ~ (0.03) ~ 0.1 | |||||
| Motion Control | Development Environment | Epson RC+ | ||||
| Programming Language | SPEL+ (multitasking robot language) | |||||
| Joint control | Standard 6 joints simultaneous control Digital AC servo control | |||||
| Operation method | PTP (Point-To-Point) method CP (Continuous Path) method | |||||
| Speed control | In PTP control: Programmable in the range of 1 to 100% IN CP control: Programmable when actual speed is specified | |||||
| Acceleration/Deceleration Control | In PTP control: Programmable from 1 to 100% and auto acceleration IN CP control: Programmable when actual speed is specified | |||||
| External interface | EMERGENCY | Emergency Stop: Redundant (Category 3/PLd) Safeguard: Redundant (Category 3/PLd) | ||||
| I/O | Standard I/O (Rear side of Manipulator) | Input: 24 points output: 16-point non-polar, sink/source-compatible | ||||
| Remote I/O (Remote functions are applied to Standard I/O) | Input: 8 points Program, 3 points Start, Stop, Pause, Continue, Reset Output: 8 points Ready, Running, Paused, Error, SafeguardOn, SError, Warning, EStopOff | |||||
| Field bus Slave (Option) | Enable to add only one module | |||||
| TP Connection Port | Supported for teach pendant (Option: TP2, TP3, TP4) | |||||
| Development PC Connection USB Port | USB TypeB | |||||
| Memory Port | USB TypeA | |||||
| Ethernet Port | Supported for 10/100 Mbps | |||||
| Reset Switch | Enable to use for resetting of system | |||||
| Display | Mode Display LED | TEACH, AUTO, PROGRAM, TestMode, Error, E-STOP | ||||
| Controller Status Save | Storage to USB memory Save to PC (Epson RC+) | |||||
*1: Mounting types other than “Table Top mounting”, “Ceiling mounting”, and “Wall mounting” are out of specification.
*2: When PTP commands are used
*3: Do not apply a load exceeding the maximum payload.
*4: When the center of gravity of the load is aligned with the center position of each arm
When the center of gravity is away from the center of each arm, set the eccentricity using the INERTIA command.
*5: For details on the environmental conditions, refer to the following.
Environment
When used in a low-temperature environment near the minimum temperature specified in the product specifications, or when the unit is idle for a long period of time during holidays or at night, a collision detection error or similar error may occur immediately after the start of operation due to high resistance in the drive unit. In such cases, warm-up operation for about 10 minutes is recommended.
*6: The conditions at measurement are as follows.
- Operating conditions of the Manipulator:
Under rated load, all arms simultaneous motion, maximum speed, and maximum acceleration/deceleration
VT6L: Duty 50% - Measurement location
1000 mm away from the rear side of the Manipulator
*7: Manipulators with cleanroom specifications discharge the exhaust inside of the base and inside of the arm cover section together. Consequently, if there is a gap in the base section, the arm tip section will not be sufficiently negatively pressurized, which may result in dust generation.
- Cleanliness
ISO Class 4 (ISO14644-1) - Exhaust port:
Fitting for ø12 mm pneumatic tube
60 L/min during suction - Application exhaust tube:
Polyurethane tube outer diameter ø12 mm (inner diameter ø8 mm)
*8: The Accel setting of "100" is the optimum setting that balances acceleration/deceleration and vibration during positioning. The Accel setting can be set higher than 100 but may result in shortening the lifespan if it is continuously used with a large value. Therefore, it is recommended to limit setting such high values for motions that are absolutely necessary.
*9: The upper limit of AccelS varies depending on the load. For details, refer to the following figure. Setting the value which exceeds the maximum AccelS causes an error. Check the setting value.
Maximum AccelS setting value
