Specification
| Category | ||
| Series | ||
| Structure | ||
| Type | ||
| Environmental specifications | ||
| Protection degree | ||
| Installation | ||
| Degrees of freedom | ||
| Drive system | ||
| Position detection method | ||
| Load capacity | Maximum | kg |
| Rated | kg | |
| Maximum reach radius | mm | |
| Operating range | J1 | deg |
| J2 | deg | |
| J3 | deg | |
| J4 | deg | |
| J5 | deg | |
| J6 | deg | |
| Maximum speed | J1 | deg/sec |
| J2 | deg/sec | |
| J3 | deg/sec | |
| J4 | deg/sec | |
| J5 | deg/sec | |
| J6 | deg/sec | |
| Maximum composite speed | High-speed operation mode | mm/sec |
| Collaborative operation mode (Standard operation) | mm/sec | |
| Collaborative operation mode (Low-speed operation) | mm/sec | |
| Position repeatability | mm | |
| Ambient temperature | ℃ | |
| Mass | kg | |
| Tolerable moment | J4 | Nm |
| J5 | Nm | |
| J6 | Nm | |
| Tolerable amount of inertia | J4 | kgm2 |
| J5 | kgm2 | |
| J6 | kgm2 | |
| Tool wiring | ||
| Tool pneumatic pipes | ||
| Force sensor cable/Spare cable | ||
| LAN cable | ||
| Supply pressure | Mpa | |
| Machine cable | m | |
| Connected controller Type | ||
| Control Type | ||
Robot arm (Vertical type) |
ASSISTA |
Vertical multiple-joint type |
RV-5AS-D |
Oil mist |
IP54 |
Floor mounted, ceiling mounted |
6 |
AC servo motor (All axes have the brake) |
Absolute encoder |
5.5 (*1) |
5 |
910 |
-240 to ＋240 |
-148 to ＋148 |
-150 to ＋150 |
-200 to ＋200 |
-120 to ＋120 |
-200 to ＋200 |
124 (59.6) (*2) |
124 (34.0) (*2) |
124 (34.0) (*2) |
297 (142) (*2) |
356 (215) (*2) |
360 |
1000 (*3) |
250 (*3) |
50 (*3) |
±0.03 |
0 to 40 (*4) |
32 |
12.8 |
12.8 |
4.9 |
0.34 |
0.34 |
0.10 |
Mechanical interface: 2 inputs/4 outputs Forearm: 6 inputs/0 outputs Base: 0 inputs/4 outputs |
Primary hoses: Φ6 × 2 Secondary hoses: Φ4 × 4 From the base of the robot to the elbow. |
5-conductor (24V/0.7A) One of the conductors should be used for the frame ground (FG). |
Cat-5e supported |
0.54 |
5m (connector on both ends) |
CR800-05VD |
Standalone |
*1: Allowable load when the mechanical interface faces downward at an inclination within ±10° to the vertical direction.
*2: Values in parentheses indicate the maximum speed when the input voltage is single-phase 100 to 120 VAC.
*3: These values represent the maximum overall speed of all axes combined. The safety functions limit the robot to the speeds shown in the table. For accurate collision force data when the robot is in Collaborative operation mode, m easure collision forces under actual operating conditions.
*4: Sets the robot's operating environmental temperature as parameter OLTMX. The initial value is 30 (°C). Corresponding to the environment, the continuous control action performance and the overload-protection function are optimized.