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Standard Type

Item Unit Spec
Model of robot unit - VS-068 VS-087
Axis - 6
Position detection - Absolute encoder
Drive motor and brake - AC servomotors for all joints, Brakes for all joints
Overall arm length (first arm + second arm) mm 680 (380 + 380) 875 (445 + 430)
Maximum motion area of point P mm 710 905
Motion angle J1 ο ±170 (*4)
J2 +135, -100
J3 +153, -120 +153, -136
J4 ±270
J5 ±120
J6 ±360
Maximum payload kg 7
Maximum composite speed (at the center of an end-effector mounting face) mm/sec 11,000
Cycle time (*1) sec 0.33 0.36
Position repeatability (at the center of an end-effector mounting face) (*2) mm ±0.02 ±0.03
Maximum allowable inertia moment J4, J5 kgm2 0.45
J6 0.1
Maximum allowable moment J4, J5 Nm 16.2
J6 6.86
Signal lines & Air piping (Option) Signal line - 10 lines (for proximity sensor signals, etc.) (*5, 6)
Air piping (*3) - 7 Systems (Ø 4x6, Ø 6x1) [Solenoid valves selected from the below].
· 3 x solenoid valves (2 positions, Double Solenoids)
· 3 x solenoid valves (3 positions, Exhaust Center Solenoids)
· 3 x solenoid valves (3 positions, Closed  Center Solenoids)
Communication Interface flange-A (Option) - 17 (power wires from cameras etc.) (*6)
- LAN x 1(1000 BASE-T) (*7)
Air source Operating pressure Mpa 0.20 ~ 0.39
Maximum allowable pressure 0.49
Airborne noise (A-weighted equivalent continuous sound pressure level) dB 65 or less
Protection degree - IP40 (Protected type: IP67 : IP67 (*8))
Weight kg Approx. 49 kg (108 lb.) Approx. 51 kg (112 lb.)

Dust & Mistproof

Item Unit Spec
Model of robot unit - VS-068 VS-087
Axis - 6
Position detection - Absolute encoder
Drive motor and brake - AC servomotors for all joints, Brakes for all joints
Overall arm length (first arm + second arm) mm 680 (380 + 380) 875 (445 + 430)
Maximum motion area of point P mm 710 905
Motion angle J1 ο ±170 (*4)
J2 +135, -100
J3 +153, -120 +153, -136
J4 ±270
J5 ±120
J6 ±360
Maximum payload kg 7
Maximum composite speed (at the center of an end-effector mounting face) mm/sec 11,000
Cycle time (*1) sec 0.33 0.36
Position repeatability (at the center of an mm ±0.02 ±0.03
Maximum allowable inertia moment J4, J5 kgm2 0.45
J6 0.1
Maximum allowable moment J4, J5 Nm 16.2
J6 6.86
Signal lines & Air piping (Option) Signal line - 10 lines (for proximity sensor signals, etc.) (*5, 6)
Air piping (*3) - 7 Systems (Ø 4x6, Ø 6x1) [Solenoid valves selected from the below]. · 3 x solenoid valves (2 positions, Double Solenoids) · 3 x solenoid valves (3 positions, Exhaust Center Solenoids) · 3 x solenoid valves (3 positions, Closed  Center Solenoids)
Air source Operating pressure Mpa 0.20 ~ 0.39
Maximum allowable pressure 0.49
Airborne noise (A-weighted equivalent continuous sound pressure level) dB 65 or less
Protection degree - IP54 (Wrist:IP65)
Weight kg Approx. 49 kg (108 lb.) Approx. 51 kg (112 lb.)

Cleanroom

Item Unit Spec
Model of robot unit - VS-068 VS-087
Axis - 6
Position detection - Absolute encoder
Drive motor and brake - AC servomotors for all joints, Brakes for all joints
Overall arm length (first arm + second arm) mm 680 (380 + 380) 875 (445 + 430)
Maximum motion area of point P mm 710 905
Motion angle J1 ο ±170
J2 +135, -100
J3 +153, -120 +153, -136
J4 ±270
J5 ±120
J6 ±360
Maximum payload kg 7
Maximum composite speed (at the center of an end-effector mounting face) mm/sec 11,000
Cycle time (*1) sec 0.33 0.36
Position repeatability (at the center of an end-effector mounting face) (*2) mm ±0.02 ±0.03
Maximum allowable inertia moment J4, J5 kgm2 0.45
J6 0.1
Maximum allowable moment J4, J5 Nm 16.2
J6 6.86
Signal lines & Air piping (Option) Signal line - 10 lines (for proximity sensor signals, etc.) (*4)
Air piping (*3) - 6 Systems (Ø 4x6) [Solenoid valves selected from the below].
· 3 x solenoid valves (2 positions, Double Solenoids)
· 3 x solenoid valves (3 positions, Exhaust Center Solenoids)
· 3 x solenoid valves (3 positions, Closed  Center Solenoids)
Air source Operating pressure Mpa 0.20 ~ 0.39
Maximum allowable pressure 0.49
Airborne noise (A-weighted equivalent continuous sound pressure level) dB 65 or less
Cleanroom class - ISO 3, ISO 5
Weight kg Approx. 49 kg (108 lb.) Approx. 51 kg (112 lb.)
  1. Time required for a robot to lift an object to a height of 25 mm and move back and forth between two locations 300 mm apart.
  2. Position repeatability is the value at constant ambient temperature.
  3. Only the Ø4 x 6 air piping system may be controlled by built-in solenoid valves.
  4. Limited motion when wall mounted.
  5. When Communication Interface Flange-A is additionally selected, four signal lines (for proximity sensor signals etc.) will be used.
  6. Subject to allowable-current limitations.
  7. LAN cable should be 20 m or less to connect to connector panel.
  8. Do not operate the robot in water.