| Main Body |
| Model |
RV-4A |
RV-5AJ |
RV-3AL |
RV-4AJL |
| Motion
degrees of freedom |
6 |
5 |
6 |
5 |
| Motor
Drive |
AC servomotor (all-axis brake attached) |
| Position
Detection |
Absolute encoder |
| Maximum
load capacity (rated) (kg) |
4 (3) |
5 (4) |
3 (2) |
4 (3) |
| Arm
length (mm) |
250+250 |
250+280 |
350+370 |
350+400 |
| Maximum
radial reach (mm) |
634 |
630 |
843 |
850 |
| Operating limits |
J1 |
Deg.
|
±160 |
| J2 |
230 (-90~+140) |
| J3 |
154(+15~+169) |
270(-130~+140) |
154(+15~+169) |
270(-130~+140) |
| J4 |
±160 |
-- |
±160 |
-- |
| J5 |
±120 |
| J6 |
±200 |
| Maximum speed |
J1 |
Deg./s |
216 |
216 |
| J2 |
270 |
180 |
| J3 |
270 |
216 |
| J4 |
270 |
-- |
270 |
-- |
| J5 |
270 |
270 |
| J6 |
432 |
432 |
| Maximum quasi-speed (mm/s) |
Approx.
5800 |
Approx.
5700 |
Approx.
6000 |
Approx.
6000 |
| Repeat position accuracy (mm) |
±0.03 |
±0.04 |
| Temperature (ºC) |
0~40 |
| Weight (kg) |
Approx.50 |
Approx.46 |
Approx.58 |
Approx.53 |
| Tool wiring |
Input: 6 points (hand) Output: 6 points (base) |
| Tool air piping |
First
piping: ø6x2 ports
Second
piping: ø4x6 ports
|
| Installation |
Floor-standing, hanging from ceiling, wall hanging
type |
| Protective structure |
IP54 |
