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10
n
nn
n Location of IPM boards
The table below shows the location of IPM boards for robot series or models.
Series &
models
Location
Item
(8) (7) (6) (5) (4) (3) (2) (1)
Joints -165432-
IPM model - M SS SS SS S L -
VM-6070D
Motor ca
p
acit
y
(
W
)
- 750 100 200 200 400 1500 -
Joints -265431-
IPM model - M SS SS SS S L -
VM-6083D/
VM-60B1D
Motor ca
p
acit
y
(
W
)
- 750 100 200 200 400 1500 -
Joints - -654321
IPM model - - SS SS SS S S S
VS-D
Motor ca
p
acit
y
(
W
)
- - 50 50 50 200 400 400
Joints - -654321
IPM model - - SS SS SS S S M
VS-E
Motor ca
p
acit
y
(
W
)
- - 50 80 100 200 400 750
Joints - -654321
IPM model - - SS SS SS SS SS SS
VC-E
Motor ca
p
acit
y
(
W
)
- - 30 30 30 80 80 80
Joints ----4321
IPM model ----SSSMM
HM/HS-D
Motor ca
p
acit
y
(
W
)
----200200750750
Joints - - 4 3 2 1
IPM model - - M M LL LL
HM-E
Motor ca
p
acit
y
(
W
)
- - 300 300 600 1000
Joints ----4321
IPM model ----SSML
HS-E
Motor ca
p
acit
y
(
W
)
----150200400750
Joints ----4321
IPM model ----SSSSSM
HC-D
Motor ca
p
acit
y
(
W
)
----50100400750
Joints ----4321
IPM model ----SSSSS
XYC-D
Motor ca
p
acit
y
(
W
)
----50200400200
NOTE 1: No IPM board are installed to locations marked with "-." Those locations
are covered with blank caps.
NOTE 2: For details about extended-joint support controllers, refer to the manual
"SUPPLEMENT Extended-Joints Support."
Rear view of the controller