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XR-G Series0 pages
XR series
M a I N
(Reach 200–300 mm; x-axis stroke 450–1,060 mm)
S P e C I F I C a t I O N S :
Model name:
±0.015 mm
J4
3,600 mm/sec.
3,600 mm/sec.
Xr-43a1
Xr-43a3
Max. arm reach/x-axis stroke
200/1,060 mm 250/1,060 mm 300/1,060 mm
Max. composite speed (X+R):
3,240 mm/sec. 3,240 mm/sec. 3,240 mm/sec.
Maximum payload:
3 kg
Repeatability (X+R):
±0.015 mm
0.03 kgm2
33–53 kg
Cycle time:
0.53 sec.
Range of motion:
J1: 450–1,060 mm; J2: ±168°; T: ±360°
Z-axis (vertical stroke):
135 mm (200 mm optional)
Absolute encoder
98 N (1 sec. or less)
10 lines (max. 1 A per line)
Air piping (in-arm integrated):
High repeatability
J4: 720°/sec.
3,650 mm/sec. 3,600 mm/sec.
Wiring (in-arm integrated):
Standard cycle time 0.53 sec.
J3: 1,500 mm/sec.
J3
300/760 mm
Total weight (approx):
J2: 382–573°/sec.
250/760 mm
Max. force fit:
High speed
J2
J1: 124–165 mm/sec.
200/760 mm
Position detection:
Integrated gantry
Allows conveyorless operation in many
applications, saving up to 20% in
capital-equipment costs
Max. joint speed
200/450 mm
Max. moment of inertia:
Uses up to 40% less factory floor space
than a conventional SCARA
Xr-4373
Model name:
Compact, space-saving design
Xr-4372
Max. composite speed (X+R):
J1
Xr-4371
Max. arm reach/x-axis stroke
F e a t u r e S
Xr-4341
1 system (ø8); with optional manifold valve, 4 systems
(ø4 x 4)
Xr-43a2
w w w . d e n s o r o b o t i c s . c o m
3636-DENSO_RoboticsBro~f.indd 18-19
10/6/08 12:15:55 PM
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