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Max. load Motion range [˚] Maximum speed [˚/s] J4 Moment J5 Moment J6 Moment
Controlled Repeatability Mechanical
Robot model Controller capacity at Reach [mm] [Nm]/ [Nm]/ [Nm]/ IP Rating
axes [mm] weight [kg]
wrist [kg] J1 J2 J3 J4 J5 J6 J1 J2 J3 J4 J5 J6 Inertia [kgm2] Inertia [kgm2] Inertia [kgm2]
50iC 6 5 ± 0.02 27 704 340/360 200 388 380 240 720 350 350 400 450 450 720 11.9/0.3 11.9/0.3 6.7/0.1
R-30iA Mate IP67
50iC/5L 6 5 ± 0.03 29 892 340/360 230 373 380 240 720 270 270 270 450 450 720 11.9/0.3 11.9/0.3 6.7/0.1
100iC 6 10 ± 0.08 130 1420 340/360 250 445 380 380 720 210 190 210 400 400 600 21.6/0.63 21.6/0.63 9.8/0.15
Arc Mate
100iC/6L R-30iA/ 6 6 ± 0.1 135 1632 340/360 250 447 380 380 720 210 190 210 400 400 600 15.7/0.63 10.1/0.38 5.9/0.061
IP54
120iC R-30iA Mate 6 20 ± 0.08 250 1811 340/370 260 458 400 360 900 195 175 180 360 360 550 44/1.04 44/1.04 22/0.28
120iC/10L 6 10 ± 0.1 250 2009 340/370 260 460 400 360 900 195 175 180 400 400 600 22/0.63 22/0.63 9.8/0.15
Reach
m
181
9m
1m
200
m
0L
120
iC/1
70
iC
4m
120
m
m
142
0m 2m
m 89 m
2m
50 163
iC 5L
/
100 iC L
iC 50 iC/6
100
g
6K
10
g Kg
5K
5
Kg
g
10 K
20 K
g
Weight
17
+170 °
MOTION RANGE OF
J5-AXIS
ROTATION CENTER
J5 AXIS ROTATION CENTER
J5-AXIS
MOTION RANGE OF J5 AXIS ROTATION CENTER
ROTATION
90.5
640 100
0 CENTER
90.5
227 123 150 860 100
210 123
200
200
1933
1720
600
600
450
450
140 143
140 143
140 143 199 181
206 181
354
478
Side Front Front
784
Side
996
1420
1632
283.0
+0.012
22.5° -0.000
127.0 127.0
Ø4.000 H7 DWL. X 6.0 DP.
R110.0
20.0 20.0
20.0
±0.1
143.0
50 45.5
127.0
240
283.0
127.0
50.0 45.5
±0.1 20.0
143.0
108.0 45.5
M4X6.0 DP.
For CAD data of the Arc Mate 50iC pls. refer to LR Mate 200iC TYP.(8)
ROTATION CENTER 4-Ø18 THRU
OF J1 AXIS Ø26 C‘ BORE DP5 For CAD data of the Arc Mate 50iC/5L pls. refer to LR Mate 200iC/5L
103
CENTER 150 1040 100 J5 AXIS ROTATI- 277 154
ON CENTER
103
250
CENTER
250
2384
2186
790
790
525
525
170 173
170 173 170 173
170 173 277 252
277 252
1287
1089
503
404
75
ROTATION CENTER OF J1 AXIS
62
20
173 ±0.1
157
150
62
343
300
75
157
15
120
A
20
R
A
A-A
HO
173 ±0.1
LL
OW
343
Ø
119 56.5
50
PRB_Rev_06_2008_01.indd 19 11.01.2010 13:44:35