| Model | DS-R6-08 | DS-R6-10 | DS-R6-20 | DS-R6-50 | DS-R6-165 | |
| DOF | 6 | |||||
| Driving Mode | AC Servo Driving | |||||
| Effective Load | 8KG | 10KG | 20KG | 50KG | 165KG | |
| RepeatAccuracy | ±0.05mm | |||||
| Working radius | 1400mm | 1589m m |
1595m m |
1950m m |
2483mm | |
| Weight | 180KG | 180KG | 290KG | 600KG | 1300KG | |
| Motion Range(R) |
J1 | ±170 | ±170 | ±170 | ±180 | ±180 |
| J2 | ±120~-8 5 |
±120~-80 | ±132~-9 5 |
±130~-90 | ±80~60 | |
| J3 | ±85~-16 5 |
±85~-16 5 |
±73~-16 3 |
±75~-2 10 |
±80~-190 | |
| J4 | ±180 | ±180 | ±180 | ±360 | ±360 | |
| J5 | ±135 | ±135 | ±133 | ±115 | ±115 | |
| J6 | ±360 | ±360 | ±360 | ±360 | ±360 | |
| Max Speed(°/s) | J1 | 130 | 130 | 147 | 158 | 100 |
| J2 | 130 | 130 | 100 | 149 | 90 | |
| J3 | 130 | 130 | 135 | 130 | 104 | |
| J4 | 270 | 270 | 300 | 215 | 144 | |
| J5 | 170 | 170 | 198 | 251 | 160 | |
| J6 | 455 | 455 | 194 | 365 | 215 | |
| Power | 4KVA | 4KVA | 6KVA | 14KVA | 31KVA | |
| Voltage | 380V or 220V | |||||
| Frequency | 50Hz or 60Hz | |||||
