Fanuc M710 Series Robot Product Brochure

Transcript

M-710+C/45M, /50, /70, /50S, /12L, /20L M-710+C/45M, /50, /70, /50S, /12L, /20L Operating space (M-710+C/12L, /20L ) Operating space (M-710+C/12L, /20L ) +180deg M-710iC/50, /70 M-710iC/12L : 1445 M-710iC/20L : 1409 M-710iC/50, /70 M-710iC/12L : 1445 M-710iC/12L : 255 M-710iC/20L : 1409 M-710iC/20L : 190 1750 2306 1750 Specifications Item Specifications 2306 170 600 175 219 234 150 585 175 219 234 878 2606 2050 2606 Specification M-710+C/70 M-710+C/50 M-710+C/45M Specification Type Articulated Type Item M-710+C/70 M-710+C/50 M-710+C/45M Controlled axes 6 axes（J1, J2, J3, J4, J5, J6） Type Articulated Type Reach 2606mm 2050mm Controlled axes 6 axes（J1, J2, J3, Angle J4, J5, J6） Installation (Note 1) Floor, Upside-down, mount Reach 2606mm 2050mm 360° (175° /s) 360° (160° /s) 360° (180° /s) Installation (NoteJ1 1)axis rotation 6.28 rad (3.14Floor, 6.28 rad (3.05 Angle rad/s) mount 6.28 rad (2.79 rad/s) rad/s) Upside-down, 360° (175° (175° /s) 360° (120° (160° /s) 360° (180° (180° /s) 225° /s) 225° /s) 225° /s) J1 axis axis rotation rotation 6.28 J2 6.28 rad rad (3.05 (3.05 rad/s) rad/s) 3.93 6.28 rad rad (2.09 (2.79 rad/s) rad/s) rad (3.14 (3.14 rad/s) rad/s) 3.93 3.93 rad 225° (120° (120° /s) 225° (175° (175° /s) 225° (180° (180° /s) 440° /s) 440° /s) 440° /s) J2 axis axis rotation rotation 3.93 Motion range J3 3.93 rad rad (2.09 (2.09 rad/s) rad/s) 3.93 rad rad (3.05 (3.05 rad/s) rad/s) 7.68 rad (3.14 (3.14 rad/s) rad/s) 7.68 7.68 rad (Maximum speed) 440° (225° (120° /s) 440° (250° (175° /s) 440° (250° (180° /s) 720° /s) 800° /s) 720° /s) J4 axisrotation wrist Motion2)range J3 axis (Note 7.68 rad 7.68 rad 7.68 rad rad(2.09 (3.93rad/s) rad/s) 13.96 rad(3.14 (4.36rad/s) rad/s) 12.57 rad(3.05 (4.36rad/s) rad/s) 12.57 (Maximum speed) rotation 720° (225° (225° /s) 800° (250° (250° /s) 720° (250° (250° /s) J4 axis axis wrist wrist 250° /s) 250° /s) 250° /s) J5 (Note 2) rad(3.93 (3.93rad/s) rad/s) 13.96 rad(4.36 (4.36rad/s) rad/s) 12.57 rad(4.36 (4.36rad/s) rad/s) 12.57 rotation 4.36 rad 4.36 rad 4.36 rad swing 250° (225° (225° /s) 250° (360° (250° /s) 250° (355° (250° /s) J5 axis axis wrist wrist 720° /s) 800° /s) 720° /s) J6 4.36 rad 4.36 rad 4.36 rad swing rad(3.93 (3.93rad/s) rad/s) 13.96 rad(4.36 (6.28rad/s) rad/s) 12.57 rad(4.36 (6.20rad/s) rad/s) 12.57 rotation 720° (225° /s) 800° (360° /s) 720° (355° /s) 45kg 70kg 50kg Max. load capacityJ6 ataxis wristwrist (6.20 rad/s) 12.57 rad (3.93 rad/s) rotation 15kg Max. Load capacity at J3 casing (Note 3) 13.96 rad (6.28 rad/s) 12.57 rad 45kg 70kg 50kg Max. load capacity ataxis wrist 294 N·m 30 kgf·m 206 N·m 21 kgf·m J4 Allowable load at J3 casing (Note 3) 15kg Max. Load capacity 294 N·m 30 kgf·m 206 N·m 21 kgf·m J5 axis moment at wrist J4 axis 294 N·m N·m 15 30 kgf·m kgf·m 206 N·m N·m 13 21 kgf·m kgf·m 147 127 J6 axis Allowable load 2 2 294 N·m 30 kgf·m 206 N·m 21 kgf·m J5 axis axis 28 kg·m 286 kgf·cm·s J4 moment atload wrist Allowable 2 2 147 N·m 15 kgf·m 127 N·m 13 kgf·m J6 axis axis 28 kg·m 286 kgf·cm·s inertia at wrist J5 2 2 204 kgf·cm·s 2 kg·m2 11 2 2 28 286 kgf·cm·s J4 axis axis 20 kg·m 112 kgf·cm·s kg·m J6 Allowable load 2 2 28 kg·mdrive 286 kgf·cm·s J5 axis Drive method Electric servo by AC servo motor inertia at wrist 2 204 kgf·cm·s2 2 20 kg·m 112mm kgf·cm·s2 11 kg·m J6 axis ± 0.1 mm ± 0.07 Repeatability Drive method Electric servo drive by AC servo 570 kg 560 kgmotor Mass (Note 4) ± 0.1 mm ± 0.07 mm Repeatability Ambient temperature : 0～45℃ 570humidity kg 560 kg Mass (Note 4) Ambient : Ambient temperature : 0～45℃ Installation environment Normally 75%RH or less (No dew nor frost allowed) Ambient humidity : or less (within one month) Short term 95%RH 2 (0.5G) Installation environment Normally 75%RH or less (No dew nor frost allowed) or less Vibration acceleration : 4.9m/s Shortthe term or less (within oneare month) Note 1) In case of the angle mounting, J195%RH and J2 axis motion range restricted. 2 or less value stated. Vibration acceleration : 4.9m/s the axis speed may not reach(0.5G) the maximum Note 2) In case of short distance motion, Note 2) In case of short distance motion the axis speed may not reach the maximum value stated 1) Max. In case of capacity the angleatmounting, J1 and by J2payload axis motion range are restricted. Note 3) load J3 casingthe is limited at wrist. In case of short distance motion, the axis speed may not reach the maximum value stated. 2) Without Note 4) controller. 962 1359 535 100 150 100 120 1359 Motion range ge of J5-axis rotat tation Motion range ge of center J5-axis rotat tation center Specifications Item Specifications Specification M-710+C/50S Specification Articulated Type Type Item M-710+C/50S 6 axes (J1, J2, J3, J4, J5, J6) Controlled axes Articulated Type Type 1359mm Reach 6 axes (J1, J2, J3,Angle J4, J5, J6) Controlled axes Floor, Upside-down, mount Installation (Note 1) 1359mm /s) Reach ｠360°(175° Floor,6.28 Upside-down, Installation (NoteJ1 1)axis rotation rad (3.05Angle rad/s)mount ｠360°(175° /s) 169°(175° /s) J1 axis axis rotation rotation J2 6.28 rad rad (3.05 (3.05 rad/s) rad/s) 2.95 169°(175° /s) 376°(175° /s) J2 axis axis rotation rotation Motion range J3 2.95 rad rad (3.05 (3.05 rad/s) rad/s) 6.56 (Maximum speed) 376°(175° /s) 720°(250° /s) J4 axisrotation wrist Motion2)range J3 axis (Note 6.56 rad 12.57 rad(3.05 (4.36rad/s) rad/s) (Maximum speed) rotation 720°(250° /s) J4 axis axis wrist wrist 250°(250° /s) J5 (Note 2) 12.57 rad(4.36 (4.36rad/s) rad/s) rotation 4.36 rad swing 250°(250° /s) J5 axis axis wrist wrist 720°(355° /s) J6 4.36 rad swing 12.57 rad(4.36 (6.20rad/s) rad/s) rotation 720°(355° 50kg /s) Max. load capacityJ6 ataxis wristwrist 12.57 rad (6.20 rad/s) rotation 15kg Max. load capacity at J3 casing (Note 3) 50kg Max. load capacity ataxis wrist 206 N·m 21 kgf·m J4 Allowable load at J3 casing (Note 3) 15kg Max. load capacity 206 N·m 21 kgf·m J5 axis moment at wrist J4 axis 206 N·m N·m 13 21 kgf·m kgf·m 127 J6 axis Allowable load 2 206 N·m 21kgf·cm·s kgf·m 2 J5 axis axis 28 kg·m 286 J4 moment atload wrist Allowable 2 13kgf·cm·s kgf·m 2 J6 axis axis 28127 kg·mN·m 286 inertia at wrist J5 28 kg·m kg·m22 112 286 kgf·cm·s kgf·cm·s22 J4 axis axis 11 J6 Allowable load 2 2 28 kg·mdrive 286 kgf·cm·s Drive Electric servo by AC servo motor E inertiamethod at wrist J5 axis 2 2 112 kgf·cm·s 11 kg·m J6 axis ± 0.07 mm Repeatability Drive method Electric servo drive by AC servo motor E 545 kg Mass (Note 4) ± 0.07 mm Repeatability Amb mbient temperature : 0～45℃ Mass (Note 4) Amb mbient humidity : 545 kg Amb mbient75%RH temperature 0～45℃ Installation environment Norm ormally or less :(No dew nor frost allowed) Amb mbient humidity Sho hort term 95%RH: or less (within one month) Installation environment Norm ormally 75%RH or less: (No dew 2nor frost allowed) Vibr ibration acceleration 4.9m/s (0.5G) or less Sho hortthe term less (within one month) Note 1) In case of the angle mounting ng, J195%RH and J2 or axis motion range are restricted. 2 Vibr ibration : 4.9m/s or value less stated. , the th axisacceleration speed may not reach the (0.5G) maximum Note 2) In case of short distance motion, Note 2) In case of short distance motion the axis speed may not reach the maximum value stated 1) Max. In case of capacity the angleatmounting ng, J1 and by J2payload axis motion range are restricted. Note 3) load J3 casin singthe is limited at wrist. In case ofcontroller. short distance motion,, the th axis speed may not reach the maximum value stated. 2) Without Note 4) 234 120 535 Motion range of J5-axis Motion range rotation of J5-axis center rotation center M-710iC/12L : 2823 M-710iC/20L : 2810 M-710iC/12L : 3123 M-710iC/20L : 3110 M-710iC/12L : 2823 M-710iC/20L : 2810 M-710iC/12L : 3123 M-710iC/20L : 3110 Specifications Item Specifications M-710iC/12L 234 : 216 M-710iC/20L : 212 120 J5-axis rotation center J5-axis rotation center 535 269 535 962 M-710iC/12L : 533 : 216 M-710iC/12L M-710iC/20L : 451 : 212 M-710iC/20L M-710iC/12L : 1805 M-710iC/20L : 1800 120 878 565 2050 565 535 Motion range of J5-axis Motion range rotation enter of J5-axis rotation enter 1080 1080 535 585 600 2062 1554 1554 565 565 1549 150 M-710iC/12L : 533 M-710iC/20L : 451 M-710iC/12L : 1805 M-710iC/20L : 1800 1150 1150 120 433 J5-axis rotation center 1549 J5-axis 2062 rotation center M-710iC/12L : R 3123 M-710iC/20L : R 3110 M-710iC/12L : R 3123 M-710iC/20L : R 3110 150 565 219 234 59 0deg 3 6 R81 35 9 R 3 6 8 R -180deg M-710iC/12L : 255 M-710iC/20L : 190 565 175 +180deg 1774 1774 433 433 150 M-710iC/45M : 1295 M-710iC/50, /70 : 1016 120 J5-axis rotation center J5-axis rotation center R1 3 754 219 234 433 175 3021 3021 M-710iC/45M : 1295 M-710iC/50, /70 : 1016 2465 2465 150 0deg 269 -180deg 754 8 550 R 20 50 6 550 8 3 M-710iC/45M 0deg 170 50 +180deg 170 M-710iC/45M : 1150 M-710iC/50, /70 : 870 170 M-710iC/45M : 1150 M-710iC/50, /70 : 870 1051 1051 1354 1354 R R R 20 6 8 -180deg 3 36 550 R R +180deg 0deg -180deg 8 -180deg 2606 -180deg +180deg M-710iC/45M 0deg 36 550 6 R 260 0deg R +180deg 550 Operating space (M-710++C/5 /50S) Operating space (M-710++C/5 /50S) 550 Operating space (M-710+C/45M, /50, /70 ) Operating space (M-710+C/45M, /50, /70 ) M-710iC/12L : 3538 M-710iC/20L : 3525 M-710iC/12L : 3538 M-710iC/20L : 3525 M-710iC/12L : 2207 M-710iC/20L : 2194 M-710iC/12L : 2207 M-710iC/20L : 2194 M-710iC/12L : 2071 M-710iC/20L : 2058 M-710iC/12L : 2071 M-710iC/20L : 2058 Specification M-710+C/12L M-710+C/20L Specification Type Articulated Type Item M-710+C/12L M-710+C/20L 6 axes（J1, J2, J3, J4, J5, J6） Controlled axes Type 3123mm Articulated Type 3110mm Reach 6 axes（J1, J2, J3, Angle J4, J5, J6） Controlled axes Floor, Upside-down, mount Installation (Note 1) 3123mm 3110mm Reach 360° (175° /s) 360° (180° /s) Upside-down, Angle mount Installation (NoteJ1 1) axis rotation 6.28 rad (3.05 rad/s) 6.28 radFloor, (3.14 rad/s) 360° (175° (175° /s) 360° (180° (180° /s) 225° /s) 225° /s) J1 axis axis rotation rotation J2 6.28 rad rad (3.05 (3.05 rad/s) rad/s) 6.28 rad rad (3.14 (3.14 rad/s) rad/s) 3.93 3.93 225° (180° (175° /s) 225° (180° (180° /s) 432° /s) 434° /s) J2 axis axis rotation rotation Motion range J3 3.93 rad rad (3.14 (3.05 rad/s) rad/s) 3.93 rad rad (3.14 (3.14 rad/s) rad/s) 7.54 7.57 (Maximum speed) 432° (350° (180° /s) 434° (400° (180° /s) 400° /s) 400° /s) J4 axisrotation wrist Motion2)range J3 axis (Note 7.54 rad rad (6.11 (3.14 rad/s) rad/s) 7.57 rad rad (6.98 (3.14 rad/s) rad/s) 6.98 6.98 (Maximum speed) rotation 400° (360° (350° /s) 400° (430° (400° /s) J4 axis axis wrist wrist 280° /s) 380° /s) J5 (Note 2) 6.98 rad rad (6.28 (6.11 rad/s) rad/s) 6.98 rad rad (7.50 (6.98 rad/s) rad/s) rotation 4.89 6.63 swing 280° (600° (360° /s) 380° (630° (430° /s) J5 axis axis wrist wrist 900° /s) 720° /s) J6 4.89 rad rad (10.47 (6.28 rad/s) 6.63 rad swing rad/s) 12.57 rad(7.50 (11.0rad/s) rad/s) 15.71 rotation 900° (600° /s) 720° (630° /s) 20kg 12kg Max. load capacityJ6 ataxis wristwrist 15.71 rad (10.47 rad/s) rotation 24kg Max. Load capacity at J3 casing (Note 3) 12.57 rad (11.0 rad/s) 20kg Max. load capacity ataxis wrist 39.2 N·m 4.0 kgf·m 22.0 N·m12kg 2.24 kgf·m J4 Allowable load at J3 casing (Note 3) Max. Load capacity 22.0 N·m 2.24 kgf·m24kg39.2 N·m 4.0 kgf·m J5 axis moment at wrist J4 axis 39.2 N·m N·m 2.0 4.0 kgf·m kgf·m 22.0 N·m 1.0 2.24kgf·m kgf·m 19.6 9.8 N·m J6 axis Allowable load 2 6.6 2 9.0 39.2 N·m 4.0kgf·cm·s kgf·m 2 22.0 N·m 2.24 kgf·m 2 0.88 J5 axis axis 0.65 kg·m kgf·cm·s kg·m J4 moment atload wrist Allowable 2 6.6 2 9.0 19.6 N·m 2.0kgf·cm·s kgf·m 2 9.8 N·m 1.0kgf·cm·s kgf·m 2 0.88 J6 axis axis 0.65 kg·m kg·m inertia at wrist J5 0.65 kg·m kg·m22 1.7 6.6 kgf·cm·s kgf·cm·s22 0.25 0.88 kg·m kg·m22 2.5 9.0 kgf·cm·s kgf·cm·s22 J4 axis axis 0.17 J6 Allowable load 2 6.6 kgf·cm·s2 0.88 kg·m2 9.0 kgf·cm·s2 0.65 kg·mElectric Drive servo drive by AC servo motor inertiamethod at wrist J5 axis 2 1.7 kgf·cm·s2 0.25 kg·m2 2.5 kgf·cm·s2 0.17 kg·m J6 axis ± 0.15 mm Repeatability Drive method Electric servo540 drive kgby AC servo motor Mass (Note 4) ± 0.15 mm Repeatability Ambient temperature : 0～45℃ Mass (Note 4) Ambient humidity : 540 kg Ambient temperature : 0～45℃ Installation environment Normally 75%RH or less (No dew nor frost allowed) Ambient humidity : or less (within one month) Short term 95%RH 2 (0.5G) Installation environment Normally 75%RH or less (No dew nor frost allowed) or less Vibration acceleration : 4.9m/s Shortthe term or less (within oneare month) Note 1) In case of the angle mounting, J195%RH and J2 axis motion range restricted. 2 (0.5G) or less Vibration acceleration 4.9m/sreach Note 2) In case of short distance motion, the axis speed :doesn't maximum one. Note 2) In case of short distance motion the axis speed may not reach the maximum value stated 1) Max. In case of capacity the angleatmounting, J1 and by J2payload axis motion range are restricted. Note 3) load J3 casingthe is limited at wrist. 2) Without In case of short distance motion, the axis speed doesn't reach maximum one. Note 4) controller. M-710+C/50H 550 Operating space +180deg 0deg -180deg 150 3 R 20 03 8 8 970 1703 Type Controlled axes Reach Installation J1 axis rotation J2 axis rotation Motion range (Maximum speed) J3 axis rotation (Note 1) J4 axis wrist swing J5 axis wrist rotation Max. load capacity at wrist Max. load capacity at J3 casing (Note 2) Allowable load J4 axis moment at wrist J5 axis Allowable load J4 axis inertia at wrist J5 axis Drive method Repeatability Mass (Note 3) Installation environment Motion range of J4-axis rotation center 1033 565 J4-axis rotation center 535 Item 2418 870 1500 Specifications 273 234 175 435 160 1042 R 2003 Specification M-710+C/50H Articulated Type 5 axes (J1, J2, J3, J4, J5) 2003mm Floor, Upside-down ｠360°(175° /s) 6.28 rad (3.05 rad/s) 225°(175° /s) 3.93 rad (3.05 rad/s) 440°(175° /s) 7.68 rad (3.05 rad/s) 234°(175° /s) 4.08 rad (3.05 rad/s) 720°(720° /s) 12.57 rad (12.57 rad/s) 50kg 15kg 150 N·m 15.3 kgf·m 68 N·m 6.9 kgf·m 6.3 kg·m2 64.3 kgf·cm·s2 2.5 kg·m2 25.5 kgf·cm·s2 Electric servo drive by AC servo motor ± 0.15 mm 540 kg Ambient temperature : 0～45℃ Ambient humidity : Normally 75%RH or less (No dew nor frost allowed) Short term 95%RH or less (within one month) Vibration acceleration : 4.9m/s2 (0.5G) or less Note 1) In case of short distance motion, the axis speed may not reach the maximum value stated. Note 2) Max. load capacity at J3 casing is limited by payload at wrist. Note 3) Without controller. ●Headquarters Oshino-mura, Yamanashi 401-0597, Japan Phone: 81-555-84-5555 Fax: 81-555-84-5512 http://www.fanuc.co.jp ●Overseas Affiliated Companies FANUC America Corporation FANUC Europe Corporation, S.A. SHANGHAI-FANUC Robotics CO., LTD. KOREA FANUC CORPORATION TAIWAN FANUC CORPORATION FANUC INDIA PRIVATE LIMITED FANUC SINGAPORE PTE. LTD. FANUC THAI LIMITED FANUC MECHATRONICS (MALAYSIA) SDN. BHD. PT. FANUC INDONESIA FANUC OCEANIA PTY. LIMITED FANUC SOUTH AFRICA (PROPRIETARY) LIMITED 3900 West Hamlin Road, Rochester Hills, MI 48309-3253, U.S.A. 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