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Product Description


  • Faster Cycle Time
  • Slim Design
  • User-Friendly Operation
  • Stronger Structure

Manipulator Specifications:

Name FD-B6
Structure Vertical Articulated Type
Number of Axes 6
Max. Payload Capacity (kg) 6 kg
Positional Repeatability (mm) ±0.08mm (*Note 1)
Drive System AC Servomotor
Drive Capacity (W) 3132 W
Position Feedback Absolute Encoder
Working Range (°) Arm J1 Rotation ±170° ( ±50°) (*Note 2)
J2 Lower Arm -155° to +90° (*Note 3)
J3 Upper Arm -170° to +245° (*Note 4)
Wrist J4 Swing ±155° (±170°) (*Note 5)
J5 Bending -45° to +225° (*Note 6)
J6 Twist ±205° (±360°) (*Notes 5 and 6)
Maximum Speed (rad/ s [°/ s]) Arm J1 Rotation 4.19rad/s [240°/s] (3.32rad/s [190°/s] ) (*Note 2)
J2 Lower Arm 4.19rad/s [240°/s]
J3 Upper Arm 4.01rad/s [230°/s]
Wrist J4 Swing 7.50rad/s [430°/s]
J5 Bending 7.50rad/s [430°/s]
J6 Twist 11.00rad/s [630°/s]
Allowable Static Load Torque For Wrist (N.m) J4 Swing 10.5N・m
J5 Bending 10.5N・m
J6 Twist 5.9N・m
Allowable Moment of Inertia for Wrist (kg.m2) J4 Swing 0.28kg・m²
J5 Bending 0.28kg・m²
J6 Twist 0.06kg・m²
Arm Cross-Sectional Area 3.59m² x 340°
Ambient Conditions Temp: 0 to 45°C, Hmd: 20 to 80%RH (No Condensation)
Mass (weight) 145kg
Upper Arm Payload Capacity 10kg (Note 7)
Installation Type Floor, Wall or Ceiling
Paint Color White (Munsell Notation 10GY 9/ 1)
  1. Positional repeatability of the tool center point ( TCP ) value complies with the JIS-B-8432 Standard.
  2. Specifications for wall mounting appear in parentheses.
  3. The working range of the J2 axis may be restricted when wall-mounted.
  4. When this unit is mounted on the floor, the working range of the J3 axis is restricted to between -170° and +180°.
  5. This specification applies when a single-wire power cable is fed through the hollow part of J4 and J6. The value in parentheses represents all other specifications.
  6. The working range of the J6 axis may be restricted by the specific posture of the J5 axis.
  7. The capacity of the upper arm varies with the wrist capacity.

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