VM Series 6-axis Articulated Robots

The VM Series 6-axis articulated robots offer high speed and repeatability along with a large, 13 kg maximum payload capacity. In addition, their maximum allowable moment of inertia (0.36 kgm²; at J4 and J5, and 0.064 kgm²; at J6) is 2.5 times greater than conventional robots, allowing more flexibility in end-effector designs and a wider range of applications. A slim, 130-mm-wide arm and long, 1,000- to 1,300-mm reach make it possible for these robots to reach around tooling or into deep, narrow spaces, such as plastic injection molds, without interfering with peripheral equipment. ANSI and CE compliance allows global deployment. Standard and ISO 5 (class 100) cleanroom models are available.

Max Payload	Reach	Cycle Time	Repeatability
13	1000/1300	0.89/0.95	±0.050/ ±0.070
kg	mm	sec	mm

High speed and repeatability
High payload capacity
Compact, space-saving design

Reach	Cycle Time*	Repeatability
1,000 mm	0.89 sec.	±0.050 mm
1,300 mm	0.95 sec.	±0.070 mm

Overhead Mountable

All arms

High Power

One of the highest applicable maximum moments of inertia in their class.

Choice of Configurations

IP54/65
Cleanroom (Class 100)

Compact Design

Minimizes interference with surrounding equipment

Lightweight

Less than 80 kg

ANSI/CE Compliant

ANSI and CE compliance allows global deployment

Specifications

Standard Models

Model name		VM-6083	VM-60B1
No. of axes		6	6
Position detection		Absolute encoder	Absolute encoder
Drive motor		AC servomotors for all joints	AC servomotors for all joints
Brakes		Brakes for joints J2 to J6	Brakes for joints J2 to J6
Overall arm length (first arm+second arm)		830mm (385mm+445mm)	1,110mm (520mm+590mm)
Arm offset	J1 (swing)	180mm	180mm
Arm offset	J3 (front arm)	100mm	100mm
Maximum motion area (Point P)		1,021mm	1,298mm
Motion range	J1	±170°	±170°
	J2	+135°, 90°	+135°, 90°
	J3	+165°, -80°	+168°, -80°
	J4	±185°	±185°
	J5	±120°	±120°
	J6	±360°	±360°
Maximum payload		13kg ^*4	13kg ^*4
Maximum composite speed (at the center of an end-effector mounting face)		8,300mm/sec	8,300mm/sec
Cycle time ^*1		0.89 sec	0.95 sec
Position repeatability at the center of an end-effector mounting face ^*2		±0.05mm	±0.07mm
Maximum allowable moment of inertia	J4, J5	0.36kgm²	0.36kgm²
Maximum allowable moment of inertia	J6	0.064kgm²	0.064kgm²
User air piping ^*3		7 systems (φ4x6, φ6x1) Solenoid Valve (2 Position, Double Solenoids) x3	7 systems (φ4x6, φ6x1) Solenoid Valve (2 Position, Double Solenoids) x3
User signal line		10 (for proximity sensor signals, etc.)	10 (for proximity sensor signals, etc.)
Air source	Operating pressure	0.10 - 0.39 MPa	0.10 - 0.39 MPa
Air source	Maximum allowable pressure	0.49 MPa	0.49 MPa
Noise		<80 dB(A)	<80 dB(A)
IP classification		IP40	IP40
Approximate weight		82kg	82kg

^*1 Time required for a robot to move 5kg payload between two points 300mm apart at a height of 25mm.
^*2 Position repeatability is the precision at constant ambient temperature.
^*3 Controllable by use of the embedded solenoid valve only for φ4x6.
^*4 If the payload exceeds 11kg, wrist downward movement is limited to ±10°.

Cleanroom Models

Model name		VM-6083	VM-60B1
No. of axes		6	6
Position detection		Absolute encoder	Absolute encoder
Drive motor and brake		AC servomotors for all joints	AC servomotors for all joints
Brakes		Brakes for joints J2 to J6	Brakes for joints J2 to J6
Overall arm length (first arm+second arm)		830mm (385mm+445mm)	1,110mm (520mm+590mm)
Arm offset	J1 (swing)	180mm	180mm
Arm offset	J3 (front arm)	100mm	100mm
Maximum motion area (Point P)		1,021mm	1,021mm
Motion range	J1	±170°	±170°
	J2	+135°, -90°	+135°, -90°
	J3	+165°, -80°	+168°, -80°
	J4	±185°	±185°
	J5	±120°	±120°
	J6	±360°	±360°
Maximum payload		13kg ^*4	13kg ^*4
Position repeatability at the center of an end-effector mounting face ^*2		8,300mm/sec	8,300mm/sec
Cycle time ^*1		0.89 sec	0.95 sec
Position repeatability (at the center of an end-effector mounting face) ^*2		±0.05mm	±0.07mm
Maximum allowable moment of inertia	J4,J5	0.36kgm²	0.36kgm²
Maximum allowable moment of inertia	J6	0.064kgm<²	0.064kgm²
User air piping ^*3		7 systems (φ4x6, φ6x1) Solenoid Valve (2 Position, Double Solenoids)x3	7 systems (φ4x6, φ6x1) Solenoid Valve (2 Position, Double Solenoids)x3
User signal line		10 (for proximity sensor signals, etc.)	10 (for proximity sensor signals, etc.)
Air source	Operating pressure	0.10 – 0.39 MPa	0.10 – 0.39 MPa
Air source	Maximum allowable pressure	0.49 MPa	0.49 MPa
Noise		<80 dB(A)	<80 dB(A)
Cleanroom classification		Class 100	Class 100
Approximate weight		82kg	82kg

^*1 Time required for a robot to move 5kg payload between two points 300mm apart at a height of 25mm.
^*2 Position repeatability is the precision at constant ambient temperature.
^*3 Controllable by use of the embedded solenoid valve only for φ4x6.
^*4 If the payload exceeds 11kg, wrist downward movement is limited to ±10°.

Dust & Splash Models

Model name		VM-6083	VM-60B1
No. of axes		6	6
Position detection		Absolute encoder	Absolute encoder
Drive motor		AC servomotors for all joints	AC servomotors for all joints
Brakes		Brakes for joints J2 to J6	Brakes for joints J2 to J6
Overall arm length (first arm+second arm)		830mm (385mm+445mm)	1,110mm (520mm+590mm)
Arm offset	J1 (swing)	180mm	180mm
Arm offset	J3 (front arm)	100mm	100mm
Maximum motion area (Point P)		1,021mm	1,298mm
Motion range	J1	±170°	±170°
	J2	+135°, -90°	+135°, -90°
	J3	+165°, -80°	+168°, -80°
	J4	±185°	±185°
	J5	±120°	±120°
	J6	±360°	±360°
Maximum payload		13kg ^*4	13kg ^*4
Maximum composite speed (at the center of an end-effector mounting face)		8,300mm/sec	8,300mm/sec
Cycle time ^*1		0.89 sec	0.95 sec
Position repeatability at the center of an end-effector mounting face ^*2		±0.05mm	±0.07mm
Maximum allowable moment of inertia	J4,J5	0.36kgm²	0.36kgm²
Maximum allowable moment of inertia	J6	0.064kgm²	0.064kgm²
User air piping ^*3		7 systems (φ4x6, φ6x1) Solenoid Valve (2 Position, Double Solenoids)x3	7 systems (φ4x6, φ6x1) Solenoid Valve (2 Position, Double Solenoids)x3
User signal line		10 (for proximity sensor signals, etc.)	10 (for proximity sensor signals, etc.)
Air source	Operating pressure	0.10 - 0.39 MPa	0.10 - 0.39 MPa
Air source	Maximum allowable pressure	0.49 MPa	0.49 MPa
Noise		<80 dB(A)	<80 dB(A)
IP classification		Unit: IP54 / Wrist: IP65	Unit: IP54 / Wrist: IP65
Approximate weight		82kg	82kg

^*1 Time required for a robot to move 5kg payload between two points 300mm apart at a height of 25mm.
^*2 Position repeatability is the precision at constant ambient temperature.
^*3 Controllable by use of the embedded solenoid valve only for φ4x6.
^*4 If the payload exceeds 11kg, wrist downward movement is limited to ±10°.