Appendix A: Specifications Table
RS4-C, RS6-C
| Item | RS4-C351* | RS6-C552* | ||
|---|---|---|---|---|
| Machinery name | Industrial robot | |||
| Product series | RS | |||
| Model | RS4-C, RS6-C | |||
| Installation method | Ceiling mounting specifications | |||
| Environmental specifications | Cleanroom & ESD model*1 | |||
| Arm length | Arms #1 + #2 | 350 mm | 550 mm | |
| Arm #1 | 175 mm | 275 mm | ||
| Arm #2 | 175 mm | 275 mm | ||
| Weight (not including weight of cables) | 16 kg (35 lb) | 20 kg (44 lb) | ||
| Drive system | All joints | AC servo motor | ||
| Maximum operating speed *2 | Joint #1 + Joint #2 | 6237 mm/s | 7421 mm/s | |
| Joint #3 | 1100 mm/s | 1440 mm/s | ||
| Joint #4 | 2600 deg/s | |||
| Repeatability | Joint #1 + Joint #2 | ±0.01 mm | ±0.015 mm | |
| Joint #3 | ±0.01 mm | |||
| Joint #4 | ±0.01 deg | |||
| Max. motion range | Joint #1 | ±270 deg | ||
| Joint #2 | ±225 deg | |||
| Joint #3 | S | 130 mm | 200 mm | |
| C | 100 mm | 150 mm | ||
| Joint #4 | ±720 deg | |||
| Max. pulse range (pulse) | Joint #1 | -3413334 to 6826667 | -5520753 to 11041506 | |
| Joint #2 | ±4177920 | ±4096000 | ||
| Joint #3 | S | -1479112 to 0 | -1820445 to 0 | |
| C | -1137778 to 0 | -1365334 to 0 | ||
| Joint #4 | ±3145728 | ±2634548 | ||
| Resolution | Joint #1 | 0.0000527 deg/pulse | 0.0000326 deg/pulse | |
| Joint #2 | 0.0000539 deg/pulse | 0.0000549 deg/pulse | ||
| Joint #3 | 0.0000879 mm/pulse | 0.0001009 mm/pulse | ||
| Joint #4 | 0.0002289 deg/pulse | 0.0002733 deg/pulse | ||
| Motor rated capacity | Joint #1 | 400 W | ||
| Joint #2 | 200 W | 400 W | ||
| Joint #3 | 150 W | |||
| Joint #4 | 100 W | 150 W | ||
| Payload (load) | Rating | 1 kg | 2 kg | |
| Max. | 4 kg | 6 kg | ||
| Joint #4 allowable moment of inertia *3 | Rating | 0.005 kg·m² | 0.01 kg·m² | |
| Max. | 0.05 kg·m² | 0.12 kg·m² | ||
| Hand diameter | Mounted | ø 16 mm | ø 20 mm | |
| Hollow | ø 11 mm | ø 14 mm | ||
| Joint #3 press force | 150 N | |||
| User wiring | 15 (15-pin: D-sub) | |||
| Ethernet CAT5e or equivalent | Ethernet CAT5e or equivalent (x2) | |||
| User piping | 2 × ø6 mm pneumatic tube, Pressure resistance: 0.59 MPa (6 kgf/cm2: 86 psi) | |||
| 1 × ø4 mm pneumatic tube, Pressure resistance: 0.59 MPa (6 kgf/cm2: 86 psi) | 2 × ø4 mm pneumatic tube, Pressure resistance: 0.59 MPa (6 kgf/cm2: 86 psi) | |||
| Environmental requirements | Ambient temperature *4 | 5 to 40°C | ||
| Ambient relative humidity | 10 to 80% (no condensation) | |||
| Transportation and storage | Temperature | -20 to +60°C | ||
| Humidity | 10 to 90% (no condensation) | |||
| Noise level *5 | LAeq = 70 dB (A) or lower | |||
| Compatible Controllers | RC800-A | |||
| Setting value range ( )Default value | Speed | 1 to (5) to 100 | ||
| Accel *6 | 1 to (10) to 120 | |||
| SpeedS | 1 to (50) to 2000 | |||
| AccelS | 1 to (200) to 25000 | |||
| Fine | 0 to (10000) to 65535 | |||
| Weight | 0 to (1) to 4 | 0 to (2) to 6 | ||
*1: Manipulators with cleanroom specifications discharge the exhaust inside of the base and in the arm cover section together.
Consequently, if there is a gap in the base section, the arm tip section will not be fully negative pressurized, which may result in dust generation. Do not remove the maintenance cover on the front of the base.
Fasten the exhaust port and exhaust tube firmly with vinyl tape to prevent gaps.
If the exhaust discharge rate is not sufficient, dust generation will exceed the specifications.
- Cleanliness level:
Class ISO 3 (ISO 14644-1) - Exhaust
- Exhaust port dimensions: Inner diameter ø 12 mm
- Compatible exhaust tubes
- Polyurethane tubes
- Outer diameter ø12 mm (Inner diameter ø8 mm)
- Recommended exhaust discharge rate: About 1,000 cm3/s (standard state)
ESD specifications are specifications that use conductive materials for or apply plating to the major resin parts as anti-static measures.
*2: When PTP statements are used. The maximum operating speed in CP motion is 2,000 mm/s in the horizontal plane.
*3: When the center of gravity of the load matches the Joint #4 center position
When the center of gravity position is separated from the Joint #4 center position, set the parameter using the Inertia statement.
*4: 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.
*5: The conditions at measurement are as follows.
- Manipulator operating conditions
Rated load, four-joint simultaneous operation, maximum speed, maximum acceleration/deceleration, duty 50% - Measurement locations
Manipulator rear side, 1,000 mm away from work envelope, and 50 mm above base mounting surface
*6: The Accel setting of "100" is the optimum setting that balances acceleration/deceleration and vibration during positioning. The Accel setting can be set to values above 100, but if you continue using the Manipulator at a high value, you may seriously shorten its lifespan, so we recommend limiting the use of such values to operations for which they are essential.