| Model |
Units |
RV-E2 |
RV-2AM |
RV-3J |
RV-3AJM |
| Degrees of freedom |
|
6 |
5 |
| Driving method |
|
AC servomotor (J1 to J3 and J5 axis brake
attached) |
| Position sensing method |
|
Absolute encoder |
| Maximum load capacity (rating) |
kg |
2 |
3 |
| Maximum reach radius |
mm |
621 |
630 |
Working area
|
J1 |
Deg. |
320 (-160 to +160) |
| J2 |
180 (-45 to +135) |
| J3 |
120 (+50 to +170) |
135 (0 to +135) |
| J4 |
320 (-160 to +160) |
- |
| J5 |
240 (-120 to +120) |
| J6 |
400 (-200 to +200) |
Maximum speed
|
J1 |
Deg./s |
150 |
| J2 |
150 |
| J3 |
180 |
| J4 |
240 |
- |
| J5 |
180 |
| J6 |
330 |
| Repeat position accuracy |
mm |
±0.04 |
| Ambient temperature |
ºC |
0 to 40 |
| Weight |
kg |
Approx.
37 |
Approx.
38 |
Approx.
33 |
Approx.
34 |
| Tool wiring *1 |
|
6 wires
for hand-check work (4-point inputs and 2 power
supply lines, the hand unit); 4-point outputs for air-hand
(the shoulder unit); 1-point output for motor-driven hand
(the hand unit); 4 spare wires (0.3 mm2 in size, arranged
from the base through the end of fore-arm). |
| Tool air-tubing |
|
Primary:
ø6×2 ports
Secondary:
ø4×4 ports
|
Primary:
ø6×2 ports
Secondary:
ø4×6 ports
|
Primary:
ø6×2 ports
Secondary:
ø4×4 ports
|
Primary:
ø6×2 ports
Secondary:
ø4×6 ports
|
| Protective structure |
|
IP30 |
IP54 |
IP30 |
IP54 |
