Robot Arm

Names of Each Part

No.	Name	Description
①	Base	Part for securing the robot
②	J0 : Base Joint	-
③	J1 : Shoulder Joint	-
④	J2 : Elbow Joint	-
⑤	J3 : Wrist 1 Joint	-
⑥	J4 : Wrist 2 Joint	-
⑦	J5 : Wrist 3 Joint	-
⑧	Tool Flange	Part for attaching a gripper or tool to the robot
⑨	Teaching Button	Button for direct teaching
⑩, ⑪	I/O Connector A(⑩), B(⑪) (Non E, E-Version : ⑩ / U-Version : ⑩,⑪)	Input/output ports for controlling the gripper or tool
⑫	Robot-Control Box Connector	Cable connection connector between the robot arm and control box

Robot Arm Shape and Dimension Information

Unit (mm)

Model	A	B	C	D	E	F	G	H
RB3-730ES Series	730	145.3	286	344	100	117.15	110.7	94.6
RB6-920ES Series	920	165.5	400	423.3	96.7	151.4	129.2	110.7
RB20-1900ES Series	1900	241	885	885	130	254.5	187.5	129.2

Unit (mm)

Model	A	B	C	D	E	F	G	H	I
RB5-850E Series	927.7	165.5	425	392	110.7	151.4	151.4	110.7	96.7
RB3-1200E Series	1200	165.5	566.9	522.4	110.7	151.4	151.4	110.7	96.7
RB10-1300E Series	1300	197	612.7	570.15	117.15	187.5	151.4	117.15	115.3
RB16-900E Series	900	197	412.7	370.15	117.15	187.5	151.4	117.15	115.3

Usage of RB5-850EA#, RB3-1200EA#, RB10-1300EA#, RB16-900EA#, RB6-920ESA#, RB20-1900ESA# (Pneumatic/Electric Cable Built-in Models)

[ Internal Pneumatic Tube Connection ]

[ RB5-850EA1, RB3-1200EA1, RB10-1300EA3,
RB16-900EA1, RB6-920ESA1, RB20-1900ESA1 ]

[ RB5-850EA2, RB3-1200EA2 ]

[ RB10-1300EA1, RB16-900EA2, RB20-1900ESA2 ]

[ RB10-1300EA2 ]

• The pneumatic and electric lines of models RB5-850EA#, RB3-1200EA#, RB10-1300EA#, RB16-900EA#, RB6-920ESA#, and RB20-1900ESA# are provided as shown in the table below. Please refer to the diagram for usage.

Model	Pneumatic Line	Electric Line
RB5-850EA1	Up to 4 (4∅ pneumatic tubes)	None
RB5-850EA2	Up to 5 (4∅ pneumatic tubes)	12-pin (AWG28)
RB3-1200EA1	Up to 4 (4∅ pneumatic tubes)	None
RB3-1200EA2	Up to 5 (4∅ pneumatic tubes)	12-pin (AWG28)
RB10-1300EA1	1 (8∅ pneumatic tubes)	None
RB10-1300EA2	1 (8∅ pneumatic tubes)	12-pin (AWG28)
RB10-1300EA3	Up to 4 (4∅ pneumatic tubes)	None
RB16-900EA1	Up to 4 (4∅ pneumatic tubes)	None
RB16-900EA2	1 (8∅ pneumatic tubes)	None
RB6-920ESA1	Up to 4 (4∅ pneumatic tubes)	None
RB20-1900ESA1	Up to 4 (4∅ pneumatic tubes)	None
RB20-1900ESA2	1 (8∅ pneumatic tubes)	None

• The number of pneumatic lines should be adjusted after checking the operating range.

WARNING

• For pneumatic/electric cable built-in models, passing pneumatic pressure or power beyond the defined specifications may damage the hardware.