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ID : 21

VS-087

Item Specifications
Model of robot unit VS-087
Overall arm length 445 mm (first arm) + 430 mm (second arm) = 875 mm
Maximum motion area R = 905 mm (Point P: J4, J5, J6 center)
Motion range

J1: +/- 170° (* 1)

J2: +135°, -100°

J3: +153°, -136°

J4: +/- 270°

J5: +/- 120°

J6: +/- 360°

Maximum payload 7 kg
Maximum composite speed 11.000 mm/s (at the center of an end-effector mounting face)
Position repeatability (* 2) In each of X, Y and Z directions: 0.03 mm (at the center of an end-effector mounting face)
Maximum allowable moment of inertia

Around J4 and J5: 0.450 kgm²

Around J6: 0.100 kgm²

Maximum allowable moment

Around J4 and J5: J16.2 Nm

Around J6: 6.86 Nm

Position detection Absolute encoder
Drive motor and brake AC servomotors for all joints, Brakes for all joints
Brake releasing Models except UL-Listed ones Operating the teach pendant or mini-pendant, or Using the brake release unit (* 3)
UL-Listed models
  1. Use the brake release unit (* 3)
  2. The teach pendant or mini-pendant cannot release the brakes.
Signal Line & Air Piping (2nd Arm) Factory option: Refer to "Signal Lines & Air Piping" and "Communication Interface Flange-A".
Robot Protective Jacket set for Food Processing Option: Refer to "ROBOT PROTECTIVE JACKET SET FOR FOOD PROCESSING USER'S MANUAL"
Degree of protection Standard type IP40
Dust- & splash-proof type IP54
Protected type IP67
(To maintain the splash-proof rating, pressure should be applied to the inside of robot. Please purchase "Air Purge Unit" (optional part) and install it to keep applying pressure to the inside of robot any time.)

Clean level

ISO 14644-1

Clean room type : class 5 (Use Point)

Clean room type : class 3 (Use Point)

Airborne noise (A-weighted equivalent continuous sound pressure level) 65 dB or less
Weight Approx. 51 kg (approx. 112 lbs)

* 1: The motion range is smaller when the robot unit is wall-mounted. For details, contact the Denso service representative.

* 2: The position repeatability is the value at constant ambient temperature.

* 3: Available only when the controller power is ON.

ID : 21

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