B-82274EN/11 3.

BASIC SPECIFICATIONS

3 BASIC SPECIFICATIONS
3.1 ROBOT CONFIGURATION
End effector
AC servo motor (M4) mounting face
for J4-axis Wrist unit
AC servo motor (M6)
for J6-axis AC servo motor (M5)
for J5-axis
J3 arm

J3 casing
AC servo motor (M3)
for J3-axis

J2 arm
AC servo motor (M1)
for J1-axis
AC servo motor (M2)
for J2-axis

J2 unit
J1 unit

Fig. 3.1 (a) Mechanical unit configuration (M-710iC/50/70/45M)

AC servo motor (M4)

for J4-axis
Wrist unit
AC servo motor (M5)
for J5-axis

End effector
J3 arm mounting face
AC servo motor (M3)
for J3-axis J3 casing

AC servo motor (M1) AC servo motor (M2)

J2 arm for J1-axis for J2-axis

J2 unit

J1 unit

Fig. 3.1 (b) Mechanical unit configuration (M-710iC/50H)

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3.BASIC SPECIFICATIONS B-82274EN/11

AC servo motor (M5) End effector

for J5-axis mounting face
J3 casing
AC servo motor (M6) AC servo motor (M4)
for J6-axis for J4-axis J3 arm

AC servo motor (M3)

for J3-axis
J2 arm Wrist unit
AC servo motor (M1)
for J1-axis AC servo motor (M2)
for J2-axis

J2 unit

J1 unit

Fig. 3.1 (c) Mechanical unit configuration (M-710iC/50S)

End effector
mounting face
AC servo motor (M4)
for J4-axis Wrist unit
AC servo motor (M6)
for J6-axis AC servo motor (M5)
for J5-axis
J3 arm

J3 casing
AC servo motor (M3)
for J3-axis

J2 arm
AC servo motor (M1)
for J1-axis
AC servo motor (M2)
for J2-axis

J2 unit
J1 unit

Fig. 3.1 (d) Mechanical unit configuration (M-710iC/50E)

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B-82274EN/11 3.BASIC SPECIFICATIONS

-
+
X J3
J6 Y + J4
(50Hの場合J5)
(J5 for 50H) + (except 50H)
(50H以外)
-
-
Z -
+ J5
(50Hの場合J4)
(J4 for 50H) J2
- J5 -
X
+ -
Y J6
+
-
Z J1
+ +
(M-710iC/50E)
(*)*この姿勢が全軸0度になります。
All axes are 0˚ at this posture.

Fig. 3.1 (e) Each axis coordinates and mechanical interface coordinates

NOTE
Zero point of mechanical interface coordinates is the end effector mounting face
center.

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3.BASIC SPECIFICATIONS B-82274EN/11

Specifications (1/2)
M-710iC/50 M-710iC/70 M-710iC/50H
Type Articulated Type
Controlled axes 6 axes (J1, J2, J3, J4, J5, J6) 5 axes (J1, J2, J3, J4, J5)
Installation Floor, upside-down (angle mount) Floor, upside-down
Upper limit 180 (3.14rad) 180 (3.14rad) 180 (3.14rad)
J1-axis
Lower limit -180 (-3.14rad) -180 (-3.14rad) -180 (-3.14rad)
Upper limit 135 (2.35rad) 135 (2.35rad) 135 (2.35rad)
J2-axis
Lower limit -90 (-1.57rad) -90 (-1.57rad) -90º (-1.57rad)
Upper limit 280 (4.88rad) 280 (4.88rad) 280º ( 4.88rad)
J3-axis
Lower limit -160 (-2.79rad) -160 (-2.79rad) -160º (-2.79rad)
Motion range
Upper limit 360 (6.28rad) 360 (6.28rad) 117º ( 2.04rad)
J4-axis
Lower limit -360 (-6.28rad) -360 (-6.28rad) -117º ( -2.04rad)
Upper limit 125 (2.18rad) 125 (2.18rad) 360º ( 6.28rad)
J5-axis
Lower limit -125 (-2.18rad) -125 (-2.18rad) -360º (-6.28rad)
Upper limit 360 (6.28rad) 360 (6.28rad)
J6-axis
Lower limit -360 (-6.28rad) -360 (-6.28rad)
J1-axis 175 /s (3.05rad/s) 160 /s (2.79rad/s) 175º/s (3.05rad/s)
J2-axis 175 /s (3.05rad/s) 120 /s (2.09rad/s) 175º/s (3.05rad/s)
Max motion
J3-axis 175 /s (3.05rad/s) 120 /s (2.09rad/s) 175º/s (3.05rad/s)
speed
J4-axis 250 /s (4.36rad/s) 225 /s (3.93rad/s) 175º/s (3.05rad/s)
(Note 1)
J5-axis 250 /s (4.36rad/s) 225 /s (3.93rad/s) 720º/s (12.57rad/s)
J6-axis 355 /s (6.20rad/s) 225 /s (3.93rad/s)
Max. load At wrist 50kg 70kg 50kg
capacity On J3 casing (Note 2) 15kg 15kg 15kg
Allowable J4 206N・m (21kgf・m) 294N･m (30kgf･m) 150N･m (15.3kgf･m)
load moment J5 206N・m (21kgf・m) 294N･m (30kgf･m) 68N･m (6.9kgf･m)
at wrist J6 127N・m (13kgf・m) 147N･m (15kgf･m)
28kg・m2 28kg･m2 6.3kg･m2
J4
(286kgf・cm・s2) (286kgf･cm･s2) (64.3kgf･cm･s2)
Allowable
28kg・m2 28kg･m2 2.5kg･m2
load inertia J5
(286kgf・cm・s2) (286kgf･cm･s2) (25.5kgf･cm･s2)
at wrist
11kg・m2 11kg･m2
J6 2
(112kgf・cm・s ) (112kgf･cm･s2)
Drive method Electric servo drive by AC servo motor
Repeatability ±0.07mm ±0.15mm
Mass 560kg 560kg 540kg
Acoustic noise level (Note 2) 71.3dB (Note 3)
Ambient temperature: 0 - 45C (Note 4)
Ambient humidity: Normally 75%RH or less
No dew, nor frost allowed.
Short time (within one month)
Installation environment Max 95%RH
Height: Up to 1000 meters above the sea level required, no particular
provision for attitude.
Vibration acceleration : 4.9m/s2 (0.5G) or less
Free of corrosive gases (Note 5)

NOTE
1 In case of short distance motion, the axis speed may not reach the maximum value stated.
2 The Max. load capacity at J3 casing is restricted by the load weight at wrist. For details, see Section 3.5.
3 This value is equivalent continuous A-weighted sound pressure level that applied with ISO11201
(EN31201). This value is measured with the following conditions.
- Maximum load and speed
- Operating mode is AUTO
4 When robot is used in low temperature environment that is near to 0ºC, or not operated for a long time in
the environment that is less than 0ºC in a holiday or the night, collision detection alarm (SRVO-050) etc.
may occur since the resistance of the drive mechanism could be high immediately after starting the
operation. In this case, we recommend performing the warm up operation for several minutes.
5 Contact the service representative, if the robot is to be used in an environment or a place subjected to
hot/cold temperatures, severe vibrations, heavy dust, cutting oil splash and or other foreign substances.

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B-82274EN/11 3.BASIC SPECIFICATIONS
Specifications (2/2)
M-710iC/50S M-710iC/45M M-710iC/50E
Type Articulated Type
Controlled axes 6 axes (J1, J2, J3, J4, J5, J6)
Installation Floor, upside-down (angle mount)
Upper limit 180º ( 3.14rad) 180º ( 3.14rad) 180º ( 3.14rad)
J1-axis
Lower limit -180º (-3.14rad) -180º (-3.14rad) -180º (-3.14rad)
Upper limit 112º ( 1.95rad) 135º ( 2.36rad) 135º ( 2.35rad)
J2-axis
Lower limit -57º (-0.99rad) -90º (-1.57rad) -90º (-1.57rad)
Upper limit 279º ( 4.87rad) 280º ( 4.88rad) 280º ( 4.88rad)
J3-axis
Lower limit -97º (-1.69rad) -160º (-2.79rad) -160º (-2.79rad)
Motion range
Upper limit 360º ( 6.28rad) 400º ( 6.98rad) 360º ( 6.28rad)
J4-axis
Lower limit -360º (-6.28rad) -400º (-6.98rad) -360º (-6.28rad)
Upper limit 125º ( 2.18rad) 125º ( 2.18rad) 190º ( 3.31rad)
J5-axis
Lower limit -125º (-2.18rad) -125º (-2.18rad) -190º (-3.31rad)
Upper limit 360º ( 6.28rad) 400º ( 6.98rad) 360º ( 6.28rad)
J6-axis
Lower limit -360º (-6.28rad) -400º (-6.98rad) -360º (-6.28rad)
J1-axis 175º/s (3.05rad/s) 180º/s (3.14rad/s) 175º/s (3.05rad/s)
J2-axis 175º/s (3.05rad/s) 180º/s (3.14rad/s) 175º/s (3.05rad/s)
Max motion speed J3-axis 175º/s (3.05rad/s) 180º/s (3.14rad/s) 175º/s (3.05rad/s)
(Note 1) J4-axis 250º/s (4.36rad/s) 250º/s (4.36rad/s) 250º/s (4.36rad/s)
J5-axis 250º/s (4.36rad/s) 250º/s (4.36rad/s) 240º/s (4.19rad/s)
J6-axis 355º/s (6.20rad/s) 360º/s (6.28rad/s) 340º/s (5.93rad/s)
At wrist 50kg 45kg 50kg
Max. load capacity
On J3 casing (Note 2) 15kg
J4-axis 206N･m (21kgf･m) 206N･m (21kgf･m) 206N・m (21kgf・m)
Allowable load
J5-axis 206N･m (21kgf･m) 206N･m (21kgf･m) 176N・m (18kgf・m)
moment at wrist
J6-axis 127N･m (13kgf･m) 127N･m (13kgf･m) 98N・m (10kgf・m)
2 2 2 2 2( 2
J4-axis 28kg･m (286kgf･cm･s ) 28kg･m (286kgf･cm･s ) 28kg・m 286kgf・cm・s )
Allowable load 2 2 2 2 2( 2
J5-axis 28kg･m (286kgf･cm･s ) 28kg･m (286kgf･cm･s ) 10.8kg・m 110kgf・cm・s )
inertia at wrist 2 2 2 2 2( 2
J6-axis 11kg･m (112kgf･cm･s ) 20kg･m (204kgf･cm･s ) 3.3kg・m 34kgf・cm・s )
Drive method Electric servo drive by AC servo motor
Repeatability ±0.07mm ±0.1mm ±0.07mm
Mass 545kg 570kg 560kg
Acoustic noise level 71.3dB (Note 3)
Ambient temperature: 0 - 45C (Note 4)
Ambient humidity: Normally 75%RH or less
No dew, nor frost allowed.
Short time (within one month)
Installation environment Max 95%RH
Height: Up to 1,000 meters above the sea level required, no particular
provision for attitude.
2
Vibration acceleration : 4.9m/s (0.5G) or less
Free of corrosive gases (Note 5)

NOTE
1 In case of short distance motion, the axis speed may not reach the maximum value stated.
2 The Max. load capacity at J3 casing is restricted by the load weight at wrist. For details, see Section 3.5.
3 This value is equivalent continuous A-weighted sound pressure level that applied with ISO11201
(EN31201). This value is measured with the following conditions.
- Maximum load and speed
- Operating mode is AUTO
4 When robot is used in low temperature environment that is near to 0ºC, or not operated for a long time in
the environment that is less than 0ºC in a holiday or the night, collision detection alarm (SRVO-050) etc.
may occur since the resistance of the drive mechanism could be high immediately after starting the
operation. In this case, we recommend performing the warm up operation for several minutes.
5 Contact the service representative, if the robot is to be used in an environment or a place subjected to
severe vibrations, heavy dust, cutting oil splash and or other foreign substances.

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3.BASIC SPECIFICATIONS B-82274EN/11

The following table lists the IEC60529-based Severe dust/liquid protection characteristics of the M-710iC.
Refer to Chapter 10 about severe dust/liquid protection package (option).

Standard Severe dust/liquid protection package

J3 arm and wrist section IP67 IP67
Drive unit of the main body IP66 IP67
Main body IP54 (*) IP67
(*) Except some connectors

M a in b o d y J 3 a rm + W r is t u n it

Fig. 3.1 (f) Characteristics of the M-710iC

NOTE
Definition of IP code

Definition of IP 67
6=Dust-tight
7=Protection from water immersion
Definition of IP 66
6=Dust-tight
6=Protection from powerful water jets.
Definition of IP 54
5=Dust-protected
4=Protection from splashing water

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B-82274EN/11 3.BASIC SPECIFICATIONS

Performance of resistant chemicals and resistant solvents

(1) The robot (including severe dust/liquid protection model) cannot be used with the following liquids.
Potentially these liquids will cause irreversible damage to the rubber parts (such as: gaskets, oil seals,
O-rings etc.). (As exception to this only liquids tested and approved by FANUC can be used with the
robot.)
(a) Organic solvents
(b) Cutting fluid including chlorine / gasoline
(c) Amine type detergent
(d) Acid, alkali and liquid causing rust
(e) Other liquids or solutions, that will harm NBR or CR rubber
(2) When the robots work in the environment, using water or liquid, complete draining of J1 base must
be done. Incomplete draining of J1 base will make the robot break down.
(3) Don not use unconfirmed cutting fluid and cleaning fluid.
(4) Do not use the robot immersed in water, neither temporary nor permanent. Robot must not be wet
permanently. *Example : in case motor surface is exposed to water for a long time, liquid may
invade inside the motor and cause failure.

3.2 MECHANICAL UNIT EXTERNAL DIMENSIONS AND

OPERATING SPACE
Fig. 3.2 (a) to (e) show the robot operating space. When installing peripheral devices, be careful not to
interfere with the robot and its operating space.

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3.BASIC SPECIFICATIONS B-82274EN/11

68
R3

275
+180DEG 0DEG

-180DEG

550
R 20
50

J5軸回転中心動作範囲
Operating space of
J5-axis rotation center

150 941 175

170

J5-axis rotation
J5軸回転中心
0°
26

2465
center
20°
°
0.5
10
870

13
55° 5°

9.5°
280°

J3-axis rear side

J3軸後部干渉領域
interference
area
565

225
535

160°

1080

1750 2050

Fig. 3.2 (a) Operating space (M-710iC/50, /70)

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B-82274EN/11 3.BASIC SPECIFICATIONS

+180DEG 0DEG
-180DEG

R 200
R 3
38 With
J2カバー付き
J2 cover
8

R 37
Without
J2カバー無しJ2 cover

4
150 970 175
160

°
4.5

2418
258° 26° 10
J3-axis rear side 53° J5-axis rotation
interference J4軸回転中心
center
area
0°

870
135°

9.4°
28

1034
565

225
535

1033
160°
J4軸回転中心動作範囲
Operating space of
J5-axis rotation center

1703 2003

Fig. 3.2 (b) Operating space (M-710iC/50H)

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3.BASIC SPECIFICATIONS B-82274EN/11

6
73
O
59
R 13

275
+180DEG 0DEG
-180DEG

550

Operating space of
J5軸回転中心動作範囲
J5-axis rotation center

J3-axis rear side

interference area
J3軸後部干渉領域
150 585 175 J5-axis rotation
556 J5軸回転中心
center
11
2°
9°
27

1774
57°
600

°
55°

16.2
97
565

269

962.4 1359

Fig. 3.2 (c) Operating space (M-710iC/50S)

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B-82274EN/11 3.BASIC SPECIFICATIONS

8
36
R

275
550
+180deg 0deg
-180deg
R 205
0

J5軸回転中心動作範囲
Operating space of
J5-axis rotation center

150 1016 170

160
870 170

J5軸回転中心
J5-axis rotation
0°

2465
20° center
26

°
0.5
10
55 °
135

°
°

J3-axis rear ° 9.5

280
side
J3軸後部干渉領域
interference area
1018
565

225
535
1080

160°

1750 2050

Fig. 3.2 (d) Operating space (M-710iC/50E)

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3.BASIC SPECIFICATIONS B-82274EN/11

8
36
R 06
R 26

275
+180DEG 0DEG

550
-180DEG

170 150 1295 175

3021
30°

1150
J5-axis rotation

°
J5軸回転中心
center

0.5
5°
29 ° 11
75
13

°
2 80
5°

565

J3-axis
J3軸後部干渉領域rear
side
interference area

160° 1554
J5軸回転中心動作範囲
Operating space of
J5-axis rotation center

2306 2606

Fig. 3.2 (e) Operating space (M-710iC/45M)

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3.3 ZERO POINT POSITION AND MOTION LIMIT

Zero point and motion range are provided for each controlled axis. Exceeding the software motion limit
of a controlled axis is called overtravel (OT). Overtravel is detected at both ends of the motion limit for
each axis. The robot cannot exceed the motion range unless there is a loss of zero point position due to
abnormalities in servo system or system error. In addition, the motion range limit by a mechanical stopper
or limit switch is also prepared to improve safety.

Fig 3.3 (a) shows the position of mechanical stopper. See Section 6.2 about movable mechanical stopper.
There is no mechanical stopper for J5-axis of M-710iC/50E.

J5-axis mechanical stopper

J3-axis mechanical stopper

J2-axis mechanical stopper

J1-axis mechanical stopper

Fig. 3.3 (a) Position of mechanical stopper

Fig.3.3 (b) - (n) show the zero point and motion limit, LS detection position, and maximum stopping
distance (stopping distance in condition of max.speed and max.load) of each axis.

Only in case of J1 to J3 axis, robot stops by transforming mechanical stopper. Be sure to exchange
transformed stopper to new one. Don’t reconstruct the mechanical stopper. There is a possibility that the
robot doesn't stop normally.

* The motion range can be changed. For information on how to change the motion range, see Chapter 6,
“AXIS LIMIT SETUP”.

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3.BASIC SPECIFICATIONS B-82274EN/11

+ 180°

-197°The maximum stopping distance(position)

-181°Limit switch detection position

±180°Stroke end 0°
+181°Limit switch detection position

+197°The maximum stopping distance(position)

- 180°
(Note) The limit switch of J1-axis is option.

Fig. 3.3 (b) J1-axis motion limit (M-710iC/50, /70, /50H, /50S, /50E, /45M)

+ 180°

-196°The maximum stopping distance(position)

-181°Limit switch detection position

±180°Stroke end 0°
+181°Limit switch detection position

+196°The maximum stopping distance(position)

- 180°
(Note) The limit switch of J1-axis is option

Fig. 3.3 (c) J1-axis motion limit (M-710iC/70)

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B-82274EN/11 3.BASIC SPECIFICATIONS

0°
-9
0°
5°
+ 13

-90°Stroke end（Lower limit）

-95°The maximum stopping
distance(position)

+135°Stroke end（Upper limit）

+140°The maximum stopping distance(position)

Note） The J2-axis does't have limit switch.

Motion limit is restricted by the position of the J3-axis

Fig. 3.3 (d) J2-axis motion limit (M-710iC/50 /70 /50H /45M /50E)

0°
-5
7°
-57v Stroke end(Lower limit)
°
12
+1

-62°The maximum stopping distance(position)

+112°Stroke end（Upper limit）

+117°The maximum stopping distance(position)
Note） The J2-axis does't have limit switch.
Motion limit is restricted by the position of the J3-axis

Fig. 3.3 (e) J2-axis motion limit (M-710iC/50S)

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3.BASIC SPECIFICATIONS B-82274EN/11

205°

0°

80 .5°
78
.5° (5
(ex 0H)
ce
pt
5
J2+J3=-84°

0H
The maximum stopping distance (position)

)
(except 50H)

J2+J3=-82° J2+J3=205v Stroke end （Upper limit）

The maximum stopping distance (position) J2+J3=208.5°The maximum stopping
(50H) distance (position)
J2+J3=-80.5v Stroke end （Lower limit）
(except 50H)

J2+J3=-78.5v Stroke end (Lower limit）

(50H) Note） The J3-axis does't have limit switch.
Motion limit is restricted by the positon of the J2-axis.

Fig. 3.3 (f) J3-axis motion limit (M-710iC/50 /70 /50H /45M /50E)

242°

0°

J2+J3=242v
42°

Stroke end （Upper limit）

J2+J3=-42°Stroke end （Lower limit）
J2+J3=+245.5°
The maximum stopping distance (position)
J2+J3=-45°
The maximum stopping distance (position)
Note） The J3-axis does't have limit switch.
Motion limit is restricted by the positon of the J2-axis.

Fig. 3.3 (g) J3-axis motion limit (M-710iC/50S)

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B-82274EN/11 3.BASIC SPECIFICATIONS

Fig. 3.3 (h) J4-axis motion limit (Except M-710iC/50H /45M)

Software restriction
ソフトウェアによる制限

0° +400°
-400˚ Stroke end (Lower limit)
-400°ストロークエンド（下限）
-400° +400°ストロークエンド（上限）
+400˚ Stroke end (Upper limit)

(NOTE) The J4-axis

注）hasJ4軸にリミットスイッチ、および機械式
no limit switch and mechanical stopper.
ストッパはありません

Fig. 3.3 (i) J4-axis motion limit (Except M-710iC/45M)

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3.BASIC SPECIFICATIONS B-82274EN/11

+125°Stroke end (Upper limit)

°
1 25
+ +125.5°The maximum stopping
disatance (position)

0°

- 12 -125.5°The maximum stopping

5° disatance (position)

-125°Stroke end (Lower limit)

Fig. 3.3 (j) J5-axis motion limit (M-710iC/50 /70 /50S /45M)

+117°Stroke end （Upper limit）

°
17 +117.6°The maximum stopping
+1
distance (position)

0°

-1
17 -117.6°The maximum stopping
°
distance (position)

-117°Stroke end （Lower limit）

Fig. 3.3 (k) J4-axis motion limit (M-710iC/50H)

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B-82274EN/11 3.BASIC SPECIFICATIONS

- 190°

+190v Stroke end

(Upper limit)
0°

-190v Stroke end

(Lower limit)
+ 190°

Note) There is no mechanical stopper

for J5-axis.
Fig. 3.3 (l) J5-axis motion limit (M-710iC/50E)

Fig. 3.3 (m) J6-axis motion limit (Except M-710iC/50H, /45M)

J5-axis motion limit (M-710iC/50H)

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3.BASIC SPECIFICATIONS B-82274EN/11

Software restriction
ソフトウェアによる制限

-400˚ Stroke end (Lower limit)

-400°ストロークエンド（下限）
0° +400°

-400°
+400°ストロークエンド（上限）
+400˚ Stroke end (Upper limit)

(NOTE) The
注） J6-axis has no limit switch and mechanical stopper.
J6軸にリミットスイッチ、および機械式
ストッパはありません

Fig. 3.3 (n) J6-axis motion limit (M-710iC/45M)

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3.4 WRIST LOAD CONDITIONS

Fig. 3.4 (a) to (e) are diagrams showing the allowable load that can be applied to the wrist section.
Apply a load within the region indicated in the graph. Apply the conditions of the allowable load moment
and the allowable load inertia. See Section 3.1 about allowable load moment and the allowable load
inertia.

100
X(cm)
Z(cm)
90
20kg M-710iC/50, 50S
87.6
80

70

60
52.6 30kg
50

35.1 40 40kg
30
24.5 50kg
20

10

0
0 10 20 30 40 50 60 70 80
Y(cm)
X,Y(cm)
32.4 43.2 64.8
26.0

Fig. 3.4 (a) Wrist load diagram (M-710iC/50, M-710iC/50S)

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X(cm)
Z(cm)
100

90
M-710iC/70

80
79.1 30kg
70

60
57.5 40kg
50
42.5 50kg
40
32.5 60kg
30
25.4
20 70kg

10

0
0 10 20
20 30 40 50 60 70 80

37.5 50.0 Y(cm)

X,Y(cm)
30.0
25.0
21.4

Fig. 3.4 (b) Wrist load diagram (M-710iC/70)

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Z(cm) 50

45
M-710iC/50H
40
20kg
38.6
35

30
30kg
28.3
25
20.8 40kg
20

15
50kg
13.1
10

0
0 5 10 15 20 25 30 35 40 45 50

23.1 X,Y(cm)
34.7
17.3
13.9

Fig. 3.4 (c) Wrist load diagram (M-710iC/50H)

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Z (cm)
70

61.0 20kg M-710iC/50E

60

50
30kg
43.0
40

30
28.0 40kg
45kg
23.0
19.0 20
50kg

10

10 20 30 40 50
X,Y(cm)
33.3 43.8
25.0
22.2

Fig. 3.4 (d) Wrist load diagram (M-710iC/50E)

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M-710iC/45M

Fig. 3.4 (e) Wrist load diagram (M-710iC/45M)

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3.5 LOAD CONDITIONS ON J3 CASING

Table 3.5 (a),(b),(c) and Fig. 3.5 show J3 casing load condition.
(The J3 casing load weight is limited according to the wrist load weight.)

J3 casing
120mm or less
load center
360mm or less

J3-axis rotation center

Fig. 3.5 J3 casing load condition

Table 3.5 (a) J3 casing load condition (M-710iC/50 /50H /50S /50E)
Wrist load weight W1 J3 casing load weight W2
43 kg or less 15 kg or less

W2   (50  W1 kg )
Equal to or more than 43 kg and equal to or 15
less than 50 kg 7

Table 3.5 (b) J3 casing load condition (M-710iC/70)

Wrist load weight W1 J3 casing load weight W2
63 kg or less 15 kg or less

 (70  W1 kg )
15
Equal to or more than 63 kg and equal to or
W2 
less than 70 kg 7

Table 3.5 (c) J3 casing load condition (M-710iC/45M)

Wrist load weight W1 J3 casing load weight W2
38 kg or less 15 kg or less

 (45  W1 kg )
15
Equal to or more than 38 kg and equal to or
W2 
less than 45 kg 7

CAUTION
 Do not put load on J3 arm. (There is no problem for putting load on J3 casing.)
 If equipment is installed to J3 arm, it is dangerous because it rotate with J3 arm.
(except M-710iC/50H)
 If you put load on J3 arm, unavoidably, treat it as wrist load.
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3.6 OPERATING SPACE FOR WALL/INCLINED SURFACE

MOUNTED ROBOTS
When robots are mounted on wall or inclined surface, the operating space has restricted range depending
on its mounted angle. Fig. 3.6 (a) to (p) show Operating space for robots mounted on wall or inclined
surface depending on its mounted angle.

Mounted angle range(3)

Mounted angle range(2)

60° 120° Mounted angle range(2)

45° 135°
Mounted angle range(1) Mounted angle range(1)
O

O°
Fig. 3.6 (a) Mounted angle (M-710iC/50 /50E)

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J5-axis rotation center

Operating space of
J5-axis rotation center

J5-axis rotation center

Operating space of
J5-axis rotation center
Fig. 3.6 (b) Operating space for mounted angle range (1) (M-710iC/50 /50E)
(0º≦φ≦45º, 135º≦φ≦180º)

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127(deg) 53(deg)

J5-axis rotation center

Operating space of
-127(deg) -53(deg)
J5-axis rotation center

J5-axis rotation center

Range of motion when J1=±90(deg)

Range of motion when

-180(deg)≦J1≦-127(deg)
-53(deg)≦J1≦ 53(deg)
127(deg)≦J1≦ 180(deg)

Operating space of
J5-axis rotation center

Fig. 3.6 (c) Operating space for mounted angle range (2) (M-710iC/50 /50E)
(45º<φ≦60º, 120º≦φ<135º)

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136(deg) 44(deg)

J5-axis rotation center

Operating space of
J5-axis rotation center
-136(deg) -44(deg)

J5-axis rotation center

Operating space when J1=±90(deg)

Operating space when

-180(deg)≦J1≦-136(deg)
-44(deg)≦J1≦ 44(deg)
136(deg)≦J1≦ 180(deg)

Operating space of
J5-axis rotation center

Fig. 3.6 (d) Operating space for mounted angle range (3) (M-710iC/ 50/ 50E)
(60º<φ<120º)

Mounted angle range(4)

Mounted angle range(3)

60° 120° Mounted angle range(3)

Mounted angle range(2) 45° 135° Mounted angle range(2)

Mounted angle range(1) 35° 145°

Mounted angle range(1)
O

0°
Fig. 3.6 (e) Mounted angle (M-710iC/70)

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B-82274EN/11 3.BASIC SPECIFICATIONS

J5-axis rotatoin center

Operating space of
J5-axis rotation center

J5-axis rotation center

Operating space of
J5-axis rotation center

Fig. 3.6 (f) Operating space for mounted angle range (1) (M-710iC/70)
(0º≦φ≦35º, 145º≦φ≦180º)

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121(deg) 59(deg)

J5-axis rotation center

Operating space of
J5-axis rotation center

-121(deg) -59(deg)

J5-axis rotation center

Operating space when J1=±90(deg)

Operating space when

-180(deg)≦J1≦-121(deg)
-59(deg)≦J1≦ 59(deg)
121(deg)≦J1≦ 180(deg)

Operating space of
J5-axis rotation center
Fig. 3.6 (g) Operating space for mounted angle range (2) (M-710iC/70)
(35º<φ≦45º, 135º≦φ<145º)

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B-82274EN/11 3.BASIC SPECIFICATIONS

136(deg) 44(deg)

J5-axis rotation center

Operating space of
J5-axis rotation center
-136(deg) -44(deg)

J5-axis rotation center

Operating space when J1=±90(deg)

Operating space when

-180(deg)≦J1≦-136(deg)
-44(deg)≦J1≦ 44(deg)
136(deg)≦J1≦ 180(deg)

Operating space of
J5-axis rotation center

Fig. 3.6 (h) Operating space for mounted angle range (3) (M-710iC/70)
(45º<φ≦60º, 120º≦φ<135º)

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143(deg) 37(deg)

J5-axis rotation center

Operating space of
J5-axis rotation center

-143(deg) -37(deg)

J5-axis rotation center

Operating space when J1=±90(deg)

Operating space when

-180(deg)≦J1≦-143(deg)
-37(deg)≦J1≦ 37(deg)
143(deg)≦J1≦ 180(deg)

Operating space of
J5-axis rotation center

Fig. 3.6 (i) Operating space for mounted angle range (4) (M-710iC/70)
(60º<φ<120º)

Mounted angle range(2)

Mounted angle range(1) 70°

110°
O

0°

Fig. 3.6 (j) Mounted angle (M-710iC/50S)

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J5-axis rotation center

Operating space of
J5-axis rotation center

J5-axis rotation center

Operating space of
J5-axis rotation center

Fig. 3.6 (k) Operating space for mounted angle range (1) (M-710iC/50S)
(0º≦φ≦70º, 110º≦φ≦180º)

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108(deg) 72(deg)

J5-axis rotation center

Operating space of
J5-axis rotation center
-108(deg) -72(deg)

J5-axis rotation center

Operating space when J1=±90(deg)

Operating space when

-180(deg)≦J1≦-108(deg)
-72(deg)≦J1≦ 72(deg)
108(deg)≦J1≦ 180(deg)

Operating space of
J5-axis rotation center
Fig. 3.6 (l) Operating space for mounted angle range (2) (M-710iC/50S)
(70º<φ<110º)

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Mounted angle range (3)

設置角度範囲(3)

Mounted angle range (2)

設置角度範囲(2)
60° 120° 設置角度範囲(2)
Mounted angle range (2)

42° 138°
Mounted angle range (1)
設置角度範囲(1) Mounted angle range (1)
設置角度範囲(1)
O

O°
Fig. 3.6 (m) Mounted angle (M-710iC/45M)

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J5軸回転中心
J5-axis rotation center

Operating space of
J5軸回転中心動作範囲
J5-axis rotation center

J5軸回転中心
J5-axis rotation center

Operating space of
J5軸回転中心動作範囲
J5-axis rotation center

Fig. 3.6 (n) Operating space for mounted angle range (1) (M-710iC/45M)
(0º≦φ≦42º, 138º≦φ≦180º)

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130 (deg) 50 (deg)

J5軸回転中心
J5-axis rotation center

Operating space of
J5軸回転中心動作範囲
J5-axis rotation center

-130 (deg)
-50 (deg)

J5-axis
J5軸回転中心 rotation center

J1=±90(deg)の時の動作範囲
Operating space when J1=90(deg)

-180(deg)≦J1≦-130(deg)
Operating space when
-50(deg)≦J1≦ 50(deg)
180(deg)≦J1≦130(deg)
130(deg)≦J1≦ 180(deg)
50(deg)≦J1≦ 50(deg)
の時の動作範囲
130(deg)≦J1≦180(deg)

Operating space of
J5軸回転中心動作範囲
J5-axis rotation center

Fig. 3.6 (o) Operating space for mounted angle range (2) (M-710iC/45M)
(42º<φ≦60º, 120º≦φ<138º)

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136 (deg) 42 (deg)

J5軸回転中心
J5-axis rotation center

Operating space of
J5軸回転中心動作範囲
J5-axis rotation center

-136 (deg)
-42 (deg)

J5軸回転中心
J5-axis rotation center

J1=±90(deg)の時の動作範囲
Operating space when J1=90(deg)

Operating space when

-180(deg)≦J1≦-136(deg)
180(deg)≦J1≦136(deg)
-42(deg)≦J1≦ 42(deg)
42(deg)≦J1≦
136(deg)≦J1≦ 180(deg)
42(deg)
の時の動作範囲
136(deg)≦J1≦180(deg)

Operating space of
J5軸回転中心動作範囲
J5-axis rotation center

Fig. 3.6 (p) Operating space for mounted angle range (3) (M-710iC/45M)
(60º<φ<120º)

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