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.

Robot Arm LED Status

< The LED status shown in the image below indicates that the robot is in Real Robot mode.>

1. When only one of the three LEDs is lit,
it indicates that power is being supplied to the robot arm.

2. When two of the three LEDs are lit,
it indicates that the robot arm has completed booting and is in Simulation mode.

3. When all three LEDs are illuminated,
it indicates that the robot arm is in Real Robot mode.

4. When all three LEDs are blinking,
it indicates that a program is running.