R-2000iB (E) v08
R-2000iB (E) v08
R-2000iB (E) v08
R - 2000 B
ser i es
Application system
R-2000+B/165F,
Operating space
210F, 250F
R-2000+B/210WE
Operating space
0 DEG
+180 DEG
-180 DEG
0 DEG
+180 DEG
- 180 DEG
R 26
55
R2
655
Rear side
interference area
312
235(210F, 250F)
215(165F)
1280
814
1280
312
225
225
Rear side
interference area
235
3045
1075
J5 axis
rotation
center
Motion range
of J5 axis
rotation center
670
Motion range
of J5 axis
rotation center
3045
J5 axis
rotation
center
1919(165F, 210F)
1811(250F)
370
370
670
1075
814
2655
1919
2655
Specications
Specications
Item
R-2000iB/165F
Type
Controlled axes
Reach
Installation
J2 axis
rotation
J3 axis
rotation
J4 axis
wrist rotation
J5 axis
wrist swing
J6 axis
wrist rotation
Max load capacity at wrist
Max load capacity at J2 base
Max load capacity on J3 arm
J4 axis
Allowable load
moment at wrist
J5 axis
J6 axis
Allowable load
inertia at wrist
360
6.28rad
136
2.37rad
(110 /s)
(1.92rad/s)
(110 /s)
(1.92rad/s)
360
6.28rad
136
2.37rad
(95 /s)
(1.66rad/s)
(90 /s)
(1.57rad/s)
(120 /s)
(2.09rad/s)
(120 /s)
(2.09rad/s)
(190 /s)
(3.32rad/s)
2655mm
Floor
360
6.28rad
136
2.37rad
(95 /s)
(1.66rad/s)
(85 /s)
(1.48rad/s)
(120 /s)
(2.09rad/s)
(120 /s)
(2.09rad/s)
(190 /s)
(3.32rad/s)
2655mm
360
6.28rad
136
2.37rad
(95 /s)
(1.66rad/s)
(90 /s)
(1.57rad/s)
(120 /s)
(2.09rad/s)
(120 /s)
(2.09rad/s)
(190 /s)
(3.32rad/s)
250kg
550kg
210kg
550kg
25kg
921Nm
94kgfm
25kg
1333Nm
136kgfm
25kg
1382Nm
141kgfm
25kg
1333Nm
136kgfm
921Nm
94kgfm
461Nm
47kgfm
1333Nm
136kgfm
706Nm
72kgfm
141.1kgm2
1440kgfcms2
1382Nm
141kgfm
715Nm
73kgfm
1333Nm
136kgfm
706Nm
72kgfm
225.4kgm2
2300kgfcms2
141.1kgm2
1440kgfcms2
225.4kgm2
2300kgfcms2
141.1kgm2
1440kgfcms2
78.4kgm2
800kgfcms2
78.4kgm2
800kgfcms2
J5 axis
78.4kgm2
800kgfcms2
J6 axis
40.2kgm2
410kgfcms2
Installation environment
2655mm
210kg
550kg
J4 axis
Drive method
Repeatability
Mass Note 2)
141.1kgm2
1440kgfcms2
78.4kgm2
800kgfcms2
1170kg
196kgm2
2000kgfcms2
0.2mm
1240kg
Note 1) In case of short distance motion, the axis speed may not reach the maximum value stated.
Note 2) Without controller.
R-2000iB/210WE
Motion range
(Maximum speed)
Note 1)
R-2000iB/250F
R-2000iB/210F
Articulated type
1270kg
0.3mm
1280kg
175L, 185L
0 DEG
+180 DEG
-180 DEG
R 28
52 (1
R3
75L)
005
R3
(12
5L)
06
0(
18
5L
)
3450 (185L)
3242 (175L)
3395 (125L)
2116 (175L)
J5 axis
rotation
center
775 (185L)
670
312
Motion range
of J5 axis
rotation center
567 (175L)
1075
225
814
720 (125L)
235(175L, 185L)
215(125L)
2852 (175L)
2269 (125L)
3005 (125L)
2216 (185L)
3060 (185L)
Specications
Specications
Item
R-2000iB/125L
Type
Controlled axes
Reach
Installation
J2 axis
rotation
J3 axis
rotation
J4 axis
wrist rotation
J5 axis
wrist swing
J6 axis
wrist rotation
Max load capacity at wrist
Max load capacity at J2 base
Max load capacity on J3 arm
J4 axis
Allowable load
moment at wrist
J5 axis
J6 axis
J4 axis
Allowable load
inertia at wrist
R-2000iB/185L
3005mm
J1 axis
rotation
Motion range
(Maximum speed)
Note 1)
R-2000iB/175L
Articulated type
J5 axis
J6 axis
Drive method
Repeatability
Mass Note 2)
Installation environment
360
6.28rad
136
2.37rad
352.6
6.15rad
(110 /s)
(1.92rad/s)
(110 /s)
(1.92rad/s)
(110 /s)
(1.92rad/s)
3060mm
2852mm
Floor
360
6.28rad
136
2.37rad
356.1
6.21rad
(95 /s)
(1.66rad/s)
(90 /s)
(1.57rad/s)
(95 /s)
(1.66rad/s)
360
6.28rad
136
2.37rad
346
6.04rad
(95 /s)
(1.66rad/s)
(85 /s)
(1.48rad/s)
(88 /s)
(1.54rad/s)
125kg
175kg
185kg
550kg
20kg
550kg
20kg
550kg
588Nm
60kgfm
588Nm
60kgfm
1225Nm
125kgfm
1225Nm
125kgfm
1225Nm
125kgfm
1225Nm
125kgfm
343Nm
35kgfm
58.8kgm2
600kgfcms2
58.8kgm2
600kgfcms2
22.5kgm2
230kgfcms2
706Nm
72kgfm
225.4kgm2
2300kgfcms2
225.4kgm2
2300kgfcms2
196kgm2
2000kgfcms2
706Nm
72kgfm
225.4kgm2
2300kgfcms2
225.4kgm2
2300kgfcms2
196kgm2
2000kgfcms2
0.2mm
1190kg
0.3mm
1290kg
Note 1) In case of short distance motion, the axis speed may not reach the maximum value stated.
Note 2) Without controller.
200R, 100P
0 DEG
+180 DEG
-180 DEG
R3
09
5 (1
65R
R3
, 20
50
0R)
0(
10
0P
)
1883
Motion range
of J5 axis
rotation center
1690 (100P)
2079 (100P)
J5 axis
rotation center
1280(165R, 200R)
225
215 (165R)
1075
600
720
3380 (100P)
3500 (100P)
Specications
Specications
Item
R-2000iB/165R
Type
Controlled axes
Reach
Installation
J2 axis
rotation
J3 axis
rotation
J4 axis
wrist rotation
J5 axis
wrist swing
J6 axis
wrist rotation
Max load capacity at wrist
Max load capacity at J2 base
Max load capacity on J3 casing
J4 axis
Allowable load
moment at wrist
J5 axis
J6 axis
J4 axis
Allowable load
inertia at wrist
J5 axis
J6 axis
Drive method
Repeatability
Mass Note 2)
Installation environment
360
6.28rad
185
3.23rad
(110 /s)
(1.92rad/s)
(100 /s)
(1.75rad/s)
365
6.37rad
720
12.57rad
(110 /s)
(1.92rad/s)
(150 /s)
(2.62rad/s)
250
4.36rad
720
12.57rad
(150 /s)
(2.62rad/s)
(220 /s)
(3.84rad/s)
165kg
3095mm
Rack mount
360
6.28rad
185
3.23rad
(90 /s)
(1.57rad/s)
(85 /s)
(1.48rad/s)
3500mm
360
6.28rad
185
3.23rad
(110 /s)
(1.92rad/s)
(90 /s)
(1.57rad/s)
550kg
25kg
550kg
550kg
25kg
921Nm
94kgfm
921Nm
94kgfm
461Nm
47kgfm
78.4kgm2
800kgfcms2
78.4kgm2
800kgfcms2
40.2kgm2
410kgfcms2
1333Nm
136kgfm
1333Nm
136kgfm
706Nm
72kgfm
141.1kgm2
1440kgfcms2
141.1kgm2
1440kgfcms2
78.4kgm2
800kgfcms2
980Nm
100kgfm
980Nm
100kgfm
706Nm
72kgfm
225.4kgm2
2300kgfcms2
225.4kgm2
2300kgfcms2
196kgm2
2000kgfcms2
0.3mm
1480kg
1540kg
Ambient temperature : 045C
Ambient humidity
: Normally 75%RH or less (No dew, nor frost allowed)
Short term Max. 95%RH or less (within one month)
Vibration acceleration : 4.9m/s2(0.5G) or less
Note 1) In case of short distance motion, the axis speed may not reach the maximum value stated.
Note 2) Without controller.
R-2000iB/100P
Motion range
(Maximum speed)
Note 1)
R-2000iB/200R
Articulated type
0.3mm
1560kg
R-2000 B/170CF
Operating space R-2000+B/170CF
0 DEG
+180 DEG
-180 DEG
R1
52
670
215
550
1720
326
559
500
Motion range
of J5 axis
rotation center
821
1520
Specications
Specications
Item
R-2000iB/170CF
Articulated type
Type
Controlled axes
Reach
Installation
Motion range
(Maximum speed)
Note 1)
J2 axis
rotation
J3 axis
rotation
J4 axis
wrist rotation
J5 axis
wrist swing
(150 /s)
(2.62rad/s)
(150 /s)
(2.62rad/s)
J6 axis
wrist rotation
Max load capacity at wrist
J5 axis
J6 axis
J4 axis
Allowable load
inertia at wrist
J5 axis
J6 axis
Drive method
Repeatability
Mass Note 2)
Installation environment
170kg
25kg
921Nm
94kgfm
921Nm
94kgfm
461Nm
47kgfm
78.4kgm2
800kgfcms2
78.4kgm2
800kgfcms2
40.2kgm2
410kgfcms2
Electric servo drive by AC servo motor
0.15mm
800kg
Ambient temperature : 045C
Ambient humidity
: Normally 75%RH or less (No dew, nor frost allowed)
Short term Max. 95%RH or less (within one month)
Vibration acceleration : 4.9m/s2(0.5G) or less
Note 1) In case of short distance motion, the axis speed may not reach the maximum value stated.
Note 2) Without controller.
+180 DEG
0 DEG
+180 DEG
-180 DEG
0 DEG
-180 DEG
R 24
70
R 26
5
670
670
370
Rear side
interference area
370
Rear side
interference area
312
1646
2261
1919
312
1280
1853
2655
J5 axis
rotation center
3045
1075
215
1280
Motion
range
of J5 axis
rotation
center
814
225
225
814
3045
1075
Motion
range
of J5 axis
rotation
center
2470
J5 axis
rotation center
Specications
Item
R-2000iB/150U
Type
Controlled axes
Reach
Installation
Motion range
(Maximum speed)
Note 1)
J2 axis
rotation
J3 axis
rotation
J4 axis
wrist rotation
J5 axis
wrist swing
J6 axis
wrist rotation
Max load capacity at wrist
Max load capacity at J2 base
Max load capacity on J3 arm
J4 axis
Allowable load
moment at wrist
J5 axis
J6 axis
J4 axis
Allowable load
inertia at wrist
Specications
R-2000iB/220U
Articulated type
6 axes (J1, J2, J3, J4, J5, J6)
2655mm
J1 axis
rotation
J5 axis
J6 axis
Drive method
Repeatability
Mass Note 2)
Installation environment
360
6.28rad
136
2.37rad
362
6.32rad
720
12.57rad
(110 /s)
(1.92rad/s)
(85 /s)
(1.48rad/s)
(110 /s)
(1.92rad/s)
(150 /s)
(2.62rad/s)
2470mm
Upside-down
360
6.28rad
136
2.37rad
362
6.32rad
720
12.57rad
(95 /s)
(1.66rad/s)
(85 /s)
(1.48rad/s)
(95 /s)
(1.66rad/s)
(120 /s)
(2.09rad/s)
150kg
220kg
10kg
25kg
833Nm
85kgfm
833Nm
85kgfm
421Nm
43kgfm
1333Nm
136kgfm
1333Nm
136kgfm
706Nm
72kgfm
78.4kgm2
800kgfcms2
78.4kgm2
800kgfcms2
141.1kgm2
1440kgfcms2
141.1kgm2
1440kgfcms2
40.2kgm2
410kgfcms2
78.4kgm2
800kgfcms2
0.3mm
1070kg
1150kg
Ambient temperature : 045C
Ambient humidity
: Normally 75%RH or less (No dew, nor frost allowed)
Short term Max. 95%RH or less (within one month)
Vibration acceleration : 4.9m/s2(0.5G) or less
Note 1) In case of short distance motion, the axis speed may not reach the maximum value stated.
Note 2) Without controller.
235
0 DEG
+180 DEG
-180 DEG
+180 DEG
- 180 DEG
0 DEG
R 26
05
R 24
4
235
1054
Motion
range
of J5 axis
rotation
center
1075
J5 axis
rotation center
937
Motion
range
of J5 axis
rotation
center
312
320
670
1075
937
2995
670
1230
225
312
320
Rear side
interference area
2995
225
Rear side
interference
area
1230
235
2605
1054
2443
J5 axis
rotation center
Specications
Item
R-2000iB/210FS
Type
Controlled axes
Reach
Installation
J2 axis
rotation
J3 axis
rotation
J4 axis
wrist rotation
2443mm
Upside-down
360 (110 /s)
6.28rad (1.92rad/s)
136 (85 /s)
2.37rad (1.48rad/s)
233.9 (95 /s)
4.08rad (1.66rad/s)
420 (130 /s)
7.33rad (2.27rad/s)
J5 axis
wrist swing
210kg
220kg
J6 axis
wrist rotation
Max load capacity at wrist
Max load capacity at J2 base
Max load capacity on J3 arm
J4 axis
Allowable load
moment at wrist
J5 axis
J6 axis
J4 axis
Allowable load
inertia at wrist
R-2000iB/220US
Articulated type
6 axes (J1, J2, J3, J4, J5, J6)
2605mm
Floor
360 (110 /s)
6.28rad (1.92rad/s)
136 (90 /s)
2.37rad (1.57rad/s)
233.9 (95 /s)
4.08rad (1.66rad/s)
420 (130 /s)
7.33rad (2.27rad/s)
J1 axis
rotation
Motion range
(Maximum speed)
Note 1)
Specications
J5 axis
J6 axis
Drive method
Repeatability
Mass Note 2)
Installation environment
550kg
1333Nm
136kgfm
1333Nm
136kgfm
1333Nm
136kgfm
1333Nm
136kgfm
706Nm
72kgfm
141.1kgm2
1440kgfcms2
141.1kgm2
1440kgfcms2
78.4kgm2
800kgfcms2
706Nm
72kgfm
141.1kgm2
1440kgfcms2
141.1kgm2
1440kgfcms2
78.4kgm2
800kgfcms2
0.3mm
1250kg
1160kg
Ambient temperature : 045C
Ambient humidity
: Normally 75%RH or less (No dew, nor frost allowed)
Short term Max. 95%RH or less (within one month)
Vibration
: Vibration acceleration : 4.9m/s2(0.5G) or less
Note 1) In case of short distance motion, the axis speed may not reach the maximum value stated.
Note 2) Without controller.
R-2000 B/100H
Operating spaceR-2000+B/100H
+180 DEG
-180 DEG
0 DEG
R 265
5
312
1280
215
J4 axis
rotation center
Motion range
of J4 axis
rotation center
370
670
1075
814
3045
225
1919
2655
Specications
Specications
Item
Type
Controlled axes
Reach
Installation
Motion range
(Maximum speed)
Note 1)
J1 axis
rotation
J2 axis
rotation
J3 axis
rotation
J4 axis
wrist swing
J5 axis
wrist rotation
Max load capacity at wrist
Max load capacity at J2 base
Max load capacity on J3 arm
Allowable load
moment at wrist
Allowable load
inertia at wrist
J4
J5
J4
J5
axis
axis
axis
axis
Drive method
Repeatability
R-2000iB/100H
Articulated Type
5 axes (J1, J2, J3, J4, J5)
2655mm
Floor
360 (130
/s)
6.28rad (2.27rad/s)
136 (130
/s)
2.37rad (2.27rad/s)
362 (130
/s)
6.32rad (2.27rad/s)
250 (170
/s)
4.36rad (2.97rad/s)
720 (360
/s)
12.57rad (6.28rad/s)
100kg
550kg
441Nm45kgfm
245Nm25kgfm
39.2kgm2400kgfcms2
15.7kgm2160kgfcms2
Electric servo drive by AC servo motor
0.2mm
Note 2)
1150kg
Installation environment
Mass
Note 1) In case of short distance motion, the axis speed may not reach the maximum value stated.
Note 2) Without controller.
Phone:
Phone:
Phone:
Phone:
Phone:
Phone:
Phone:
Phone:
1-248-377-7000
352-727777-1
86-21-5032-7700
82-55-278-1200
886-4-2359-0522
91-80-2852-0057
65-6567-8566
66-2-714-6111
Fax:
Fax:
Fax:
Fax:
Fax:
Fax:
Fax:
Fax:
1-248-377-7477
352-727777-403
86-21-5032-7711
82-55-284-9826
886-4-2359-0771
91-80-2852-0051
65-6566-5937
66-2-714-6120
Phone:
Phone:
Phone:
Phone:
60-3-7628-0110
62-21-4584-7285
61-2-8822-4600
27-11-392-3610
Fax:
Fax:
Fax:
Fax:
60-3-7628-0220
62-21-4584-7288
61-2-8822-4666
27-11-392-3615
2006