Chapter 6 - Technical Specifications 6.3 Specifications Table 6-1. Robot Specifications 58 Adept Viper s1300 Robot User’s Guide, Rev B Specification s1300 Overall arm length 520 (first arm) + 590 (second arm) = 1100 mm Arm offset J1 (swing): 180 mm, J3 (front arm): 100 mm Maximum motion area R = 1388 mm (end-effector mounting face) R = 1298 mm (Point P: J4, J5, J6 center) Motion range J1: ±170° J2: -180°, +45° J3: +10°, +255° J4: ±185° J5: ±120° J6: ±360° Maximum composite speed (at the center of an end-effector mounting face) 8300 mm/s Maximum payload 10 kg Position repeatability (Note 1) In each of X, Y and Z directions:
±0.07 mm (at the center of an end-effector mounting face) Maximum allowable inertia moment Around J4: 0.36 kgm2 Around J5: 0.36 kgm2 Around J6: 0.064 kgm2 Position detection Absolute encoder Drive motor and brake AC servomotors for all joints Brakes for joints J2 to J6 User air piping (Note 2) 7 systems (Ø4x6, Ø6x1), 3 solenoid valves (2-position, double solenoid) contained. User signal line 10 (for proximity sensor signals, etc.) Air source - Operating pressure 1.0 × 105 Pa to 3.9 × 105 Pa Air source - Maximum allowable pressure 4.9 × 105 Pa Degree of Protection IP-40 Weight Approx. 78 kg Note 1: Position repeatability is the value at constant ambient temperature. Note 2:
Only the Ø4x6 air piping system may be controlled by built-in solenoid valves.