• Features
  • Specs
  • Dimensions
  • Standard Components
  • Accessories
  • Videos
  • Data Sheet
  • CAD1

Basic

Item Basic model
Model name of robot set (1) XR-4341*G XR-4371*G XR-4372*G XR-4373*G XR-43A1*G XR-43A2*G XR-43A3*G
Model name of robot unit XR-4341*GM XR-4371*GM XR-4372*GM XR-4373*GM XR-43A1*GM XR-43A2*GM XR-43A3*GM
Overall arm length 200 mm 200 mm 250 mm 300 mm 200 mm 250 mm 300 mm
Motion range/Stroke 1st axis (X-axis) 450 mm 760 mm 1,060 mm
2st axis (R-axis) ±168°
3st axis (X-axis) *1 = 1:135 mm, * = 2:200 mm
4th axis (T-axis) ±360°
Axis combination X (1st axis) + R (2nd axis) + Z (3rd axis) + T (4th axis)
Maximum payload 5 kg
Composite speed Arm tip (X + R-axis) 3,650 mm/s 3,600 mm/s 3,240 mm/s
Z axis/T-axis Z: 1,500 mm/s, T:720°/s
Position repeatability (2) X + R-axis ±0.015mm
Z axis ±0.010mm
T-axis ±0.005°/s
Maximum allowable inertia moment 0.05kgm2
Position detection Absolute encoder
Drive motor and brake AC servomotors for all axis, Z-axis equipped with brake
Brake releasing Enter a brake release command with the teach pendant or mini-pendant.
User air piping 1 system (Ø8) (with optional manifold value : 4 system (Ø4x4))
User signal line 10 (for proximity sensor signals, etc.)
Air source Operating pressure 1.0 x 105Pa to 3.9 x 105Pa
Maximum allowable pressure 5.9 x 105Pa
Weight (3) 33 kg (73 lb.) 45 kg (99 lb.) 46 kg (101 lb.) 47 kg (104 lb.) 51 kg (112 lb.) 52 kg (114 lb.) 53 kg (116 lb.)
  1. The model name of robot system refers to the model of a complete set, including a robot unit and robot controller.
  2. Measured at the constant ambient temperature.
  3. In the case of the heaviest model (Z = 200 mm)