Micromech Products - Motoman Robots Pg 1

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Motoman XRC Robot Family - PDF Catalogues

Technical Specifications	SV3X SV3-J10	SV3XL SV3-J30	UP6-C UP6-A20	UP6 UP6-A00	UP20 UP20-A00	UP20-6 UP20-A10
Controlled axes	6	6	6	6	6	6
Payload	3 kg	3 kg	6 kg	6 kg	20 kg	6 kg
Repetitive positioning accuracy	+0.03 mm	+0.03 mm	+0.08 mm	+0.08 mm	+0.08 mm	+0.06 mm
Maximum reach P-point	677 mm	795 mm	996 mm	1373 mm	1658 mm	1885 mm
Motion Range
S-axis (turning)	+170^o	+170^o	+170^o	+170^o	+180^o	+180^o
L-axis (lower arm)	+150^o, -45^o	+150^o, -45^o	+155^o, -85^o	+155^o, -90^o	+155^o, -110^o	+155^o, -110^o
U-axis (upper arm)	+190^o, -70^o	+190^o, -70^o	+167^o, -128^o	+190^o, -170^o	+210^o, -80^o	+255^o, -160^o
R-axis (wrist roll)	+180^o	+180^o	+180^o	+180^o	+190^o	+190^o
B-axis (wrist pitch)	+135^o	+135^o	+135^o	+135^o	+140^o	+140^o
T-axis (wrist twist)	+350^o	+350^o	+360^o	+360^o	+360^o	+360^o
Maximum Speed
S-axis	210^o/s	150^o/s	180^o/s	140^o/s	165^o/s	165^o/s
L-axis	170^o/s	120^o/s	220^o/s	160^o/s	165^o/s	165^o/s
U-axis	225^o/s	195^o/s	220^o/s	170^o/s	165^o/s	165^o/s
R-axis	300^o/s	300^o/s	335^o/s	335^o/s	335^o/s	335^o/s
B-axis	300^o/s	300^o/s	335^o/s	335^o/s	335^o/s	335^o/s
T-axis	420^o/s	420^o/s	500^o/s	500^o/s	510^o/s	510^o/s

Allowable Moment
R-axis	5.39 Nm	5.39 Nm	11.8 Nm	11.8 Nm	31.4 Nm	11.8 Nm
B-axis	5.39 Nm	5.39 Nm	9.8 Nm	9.8 Nm	31.4 Nm	9.8 Nm
T-axis	2.94 Nm	2.94 Nm	5.9 Nm	5.9 Nm	15.7 Nm	5.9 Nm
Allowable Inertia GD²/4
R-axis	0.1 kglm²	0.1 kglm²	0.24 kglm²	0.24 kglm²	0.7 kglm²	0.24 kglm²
B-axis	0.1 kglm²	0.1 kglm²	0.17 kglm²	0.17 kglm²	0.7 kglm²	0.17 kglm²
T-axis	0.03 kglm²	0.03 kglm²	0.06 kglm²	0.06 kglm²	0.2 kglm²	0.06 kglm²
Others
Weight	30 kg	35 kg	130 kg	130 kg	280 kg	300 kg
Power Supply	1 kVA	1 kVA	1.5 kVA	1.5 kVA	2.8 kVA	2.8 kVA
Mounting direction	F,W,C	F,W,C	F,W,C	F,W,C	F,W,C	F,W,C
Wrist unit protection class	IP54	IP54	IP54 (option)	IP54 (option)	IP67	IP67
Robot body protection class	IP54	IP54	N, C	N, C	IP54	IP54

Technical Specifications	UP20M UP20M-A00	UP50 UP50-A00	UP130 UP130-A00	UP165 UP165-A00	UP165-100 UP165-A30	UP200 UP200-A00
Controlled axes	6	6	6	6	6	6
Payload	20 kg	50 kg	130 kg	165 kg	100 kg	200 kg
Repetitive positioning accuracy	+0.15 mm	+0.07 mm	+0.2 mm	+0.2 mm	+0.3 mm	+0.2 mm
Maximum reach P-point	3106 mm	2046 mm

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