Global
Viper 650 EtherCAT version
| Product name | Viper | |||
|---|---|---|---|---|
| Size | 650 | |||
| Cleanroom/IP | Standard | Cleanroom | IP54/65 | |
| Part Number | RL6-2066000 | RL6-2066020 | RL6-2066010 | |
| Mounting | Table/Floor/Inverted | |||
| Number of axes | 6 | |||
| Reach | 653 mm | |||
| Maximum Payload | 5 kg | |||
| Repeatability | XYZ | ±0.02 mm | ||
| Joint Range | Joint 1 | ±170° | ||
| Joint 2 | -190°, +45° | |||
| Joint 3 | -29°, +256° | |||
| Joint 4 | ±190° | |||
| Joint 5 | ±120° | |||
| Joint 6 | ±360° | |||
| Inertia Moment
(Max.) |
Joint 4 | 0.295 kgm2 | ||
| Joint 5 | 0.295 kgm2 | |||
| Joint 6 | 0.045 kgm2 | |||
| Joint Speeds | Joint 1 | 328°/s | ||
| Joint 2 | 300°/s | |||
| Joint 3 | 375°/s | |||
| Joint 4 | 375°/s | |||
| Joint 5 | 375°/s | |||
| Joint 6 | 600°/s | |||
| Power Requirements | 24 VDC: 6 A
200 to 240 VAC: 10 A, single-phase |
|||
| Protection | Base | IP40 | IP40 | IP54 |
| Robot Joints (J4, J5, J6) | IP40 | IP40 | IP65 | |
| Clean Class | --- | Class10 | --- | |
| Environment
Requirements |
Ambient Temperature | 5 to 40°C | ||
| Humidity Range | 5 to 90% (non-condensing) | |||
| Weight | 34 kg | |||
| Basic
configuration |
Controller | eCS-ECAT | ||
| On-board I/O (Input/Output) | 12/8 | |||
| Conveyor tracking input | 2 | |||
| RS-232C serial communications port | 1 | |||
| Programming environment | Sysmac Studio 64-bit | |||
| ACE Sight | Yes | |||
| ePLC Connect | No | |||
| ePLC I/O | No | |||
| Connectable controller | Omron NJ501-R Series | |||
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