Name			FD-B4S
Construction			Articulated construction
Number of Axes			7
Positional Repeatability			4 kgs
Wrist Pay Load Capacity			±0.08 mm
Driving Capacity			3550 kW
Working Range	Arm	J1 (Rotation)	±170°
		J2 (Lower arm)	-145° ~ +70°
		J7	±90°
		J3 (Upper arm)	-170° ~ +142.6°
	Wrist	J4 (Swing)	±155°
		J5	-45° ~ +225°
		J6	±205°
Max. Speed	Arm	J1 (Rotation)	3.66 rad/s {210°/s}
		J2 (Lower arm)	3.66 rad/s {210°/s}
		J7	3.14 rad/s {180°/s}
		J3 (Upper arm)	3.66 rad/s {210°/s}
	Wrist	J4 (Swing)	7.33 rad/s {420°/s}
		J5	7.33 rad/s {420°/s}
		J6	10.5 rad/s {600°/s}
Wirst Allowable Load	Allowable Moment	J4 (Swing)	10.1 N・m
		J5	10.1 N・m
		J6	2.94 N・m
	Allowable Moment Of Inertia	J4 (Swing)	0.38 kg・m²
		J5	0.38 kg・m²
		J6	0.03 kg・m²
Arm Cross-sectional Area			2.57 m²  x 340°
Ambient Temperature / Humidity			0~45°C﹑20~80%RH
Mass (Weight)			189 kgs
Upper Arm Max.			10 kgs
Setting method			Floor-