Overview

This 4-kg payload welding robot is ideal for short and medium reach tight spaces in crowded welding zones. The B4S offers a through-arm design providing a slim manipulator without exterior cables or conduits that may impede movement or snag in hard to reach or crowded areas.


Arc Welding Robot

• Rotation of the seventh axis enables interference avoidance without changing the position and/or attitude of the tool.
• Maintaining the optimum attitude at all times results in the enhancement of weld quality.

Teach Pendant

• Icon displays assist in quick & easy teaching
• 640x480 VGA color screen with LED backlight 65536 color display
• 3 position enable switch provides increased safety
• Multi-screen function allows user to view up to 4 screens simultaneously
• On-screen help function with complete instruction manuals
• Standard touch screen display with jog dial operation

Specifications

Specification	Value
Number of Axes	7
Maximum Payload Capacity	4 kg
Positional Repeatability	+/- 0.08 mm (Note 1)
Horizontal Reach	1435mm
Vertical Reach	2446mm
Drive Capacity	3550W
Working Range, Arm, J1 (Rotation)	+/- 170º
Working Range, Arm, J2 (Lower Arm)	-145º~+70º
Working Range, Arm, J3 (Upper Arm)	-170°~ +142.6°
Working Range, Wrist, J4 (Swing)	+/- 155°
Working Range, Wrist, J5 (Bending)	-45°~ +225°(Note 2)
Working Range, Wrist, J6 (Twist)	+/- 205° (Note 2)
Maximum Velocity, Arm, J1 (Rotation)	3.66 rad/s {210°/s}
Maximum Velocity, Arm, J2 (Lower Arm)	3.66 rad/s {210°/s}
Maximum Velocity, Arm, J3 (Upper Arm)	3.66 rad/s {210°/s}
Maximum Velocity, Wrist, J4 (Swing)	7.33 rad/s {420°/s}
Maximum Velocity, Wrist, J5 (Bending)	7.33 rad/s {420°/s}
Maximum Velocity, Wrist, J6 (Twist)	10.5 rad/s {600°/s}
Wrist Load, Allowable Moment, J4 (Swing)	10.1 N*m
Wrist Load, Allowable Moment, J5 (Bending)	10.1 N*m
Wrist Load, Allowable Moment, J6 (Twist)	2.94 N*m
Wrist Load, Allowable Moment of Inertia, J4 (Swing)	0.38 kg*m@2
Wrist Load, Allowable Moment of Inertia, J5 (Bending)	0.38 kg *m^2
Wrist Load, Allowable Moment of Inertia, J6 (Twist)	0.03 kg *m^2
Arm operation cross-sectional area	2.57 m^2 x 340°
Environmental Conditions	0 ~ 45°C, 20 ~ 80 %RH (No condensation)
Mass	189 kg
Upper arm payload capacity	10 kg (Note 3)
Installation type	Floor type
Paint color	White (Munsell 10GY9/1)