Specifications 2018-04-13T02:07:33+00:00

SPECIFICATIONS
Manipulators

FD-B4 FD-B4L FD-V6 FD-V6L
Model NB4 NB4L NV6 NV6L
Number of axes 6 6 6 6
Maximum capacity 8.82 lbs (4 kg) 8.82 lbs (4 kg) 13.23 lbs (6 kg) 13.23 lbs (6 kg)
Positional repeatability ±0.003″ (+/-0.08 mm) ±0.003″ (±0.08 mm) ±0.003″ (±0.08 mm) ±0.003″ (±0.08 mm)
Horizontal reach 55.55″ (1411 mm) 79.06″ (2008 mm) 55.29″ (1402 mm) 78.98″ (2006 mm)
Vertical reach 96.34″ (3575 mm) 138.75″ (35.75 mm) 90.67″ (2430 mm) 140.55″ (3570 mm)
Driving capacity 2550 W 4650 W 2600 W 5000 W
Working range
  Arm
    J1 (Rotation) ±170° (±50°) ±170° (±50°) ±170° (±50°) ±170° (±50°)
    J2 (Lower arm) -155° to +90° -155° to +100° -155° to +90° -155° to +100°
    J3 (Upper arm) -170° to +180° -170° to +190° -170° to +190° -170° to +260°
  Wrist
    J4 (Swing) ±155° ±155° ±180° ±180°
    J5 (Bending) -45° to +255° -45° to +255° -50° to +230° -50° to +230°
    J6 (Twist) ±205° ±205° ±360° ±360°
Motion speed
 Arm
    J1 (Rotation) 366 rad/s (210°/s)
3.32 rad/s (190°/s)
3.40 rad/s (195°/s)
3.05 rad/s (175°/s)
366 rad/s (210°/s)
3.32 rad/s (190°/s)
3.40 rad/s (195°/s)
3.05 rad/s (175°/s)
    J2 (Lower arm) 3.66 rad/s (210°/s) 3.49 rad/s (200°/s) 3.66 rad/s (210°/s) 3.49 rad/s (200°/s)
    J3 (Upper arm) 3.66 rad/s (210°/s) 3.49 rad/s (200°/s) 3.66 rad/s (210°/s) 3.49 rad/s (200°/s)
  Wrist
    J4 (Swing) 7.33 rad/s (420°/s) 7.33 rad/s (420°/s) 7.33 rad/s (420°/s) 7.33 rad/s (420°/s)
    J5 (Bending) 7.33 rad/s (420°/s) 7.33 rad/s (420°/s) 7.33 rad/s (420°/s) 7.33 rad/s (420°/s)
    J6 (Twist) 10.5 rad/s (600°/s) 10.5 rad/s (600°/s) 10.82 rad/s (620°/s) 10.82 rad/s (620°/s)
Wrist allowable load
  Allowable moment
     J1 (Rotation) >10.1 N•m 10.1 N•m 11.8 N•m 11.8 N•m
     J2 (Lower arm) 10.1 N•m 10.1 N•m 9.8 N•m 9.8 N•m
     J3 (Upper arm) 2.94 N•m 2.94 N•m 5.9 N•m 5.9 N•m
  Allowable moment of inertia
    J4 (Swing) 0.38 kg•m^2 0.38 kg•m^2 0.30 kg•m^2 0.30 kg•m^2
    J5 (Bending) 0.38 kg•m^2 0.38 kg•m^2 0.25 kg•m^2 0.25 kg•m^2
    J6 (Twist) 0.03 kg•m^2 0.03 kg•m^2 0.06 kg•m^2 0.06 kg•m^2
Arm cross-sectional area 2.94 m^2 x 340° 6.37 m^2 x 340° 3.14 m^2 x 340° 7.48 m^2 x 340°
Environmental conditions  32 to 113° F, 20 to 80% RH (no condensation) 32 to 113° F, 20 to 80% RH (no condensation)  32 to 113° F, 20 to 80% RH (no condensation) 32 to 113° F, 20 to 80% RH (no condensation)
Mass / weight 340 lbs (154 kg) 611 lbs (227 kg)  317 lbs (144 kg) 602 lbs (273 kg)
Maximum load of upper arm 22.05 lbs (10 kg) 44.09 lbs (20 kg) 22.05 lbs (110 kg) 44.09 lbs (20 kg)
Installation method Floor/Ceiling/Wall  Floor/Ceiling/Wall  Floor/Ceiling/Wall  Floor/Ceiling/Wall
Paint color  White (munsell notation 10GY 9/1)  White (munsell notation 10GY 9/1)  White (munsell notation 10GY 9/1)  White (munsell notation 10GY 9/1)