Marvin specifications
These values come from Table 4-1 of the Marvin Series Robot User Manual V2.2. Values are model-specific; do not mix them across models.
Basic specifications
| Item | Marvin M6-CCS | Marvin M6-SRS | Marvin M3-CCS |
|---|---|---|---|
| Wrist | CCS | SRS | CCS |
| DoF (per arm) | 7 | 7 | 7 |
| Max. payload | 6 kg | 6 kg | 3 kg |
| Max. reach | 696 mm | 686 mm | 615 mm |
| Repeatability | ±0.03 mm | ±0.02 mm | ±0.05 mm |
| Rated power | 0.4 kW | 0.4 kW | 0.2 kW |
| Mounting | Floor, wall, inclined, ceiling | Floor, wall, inclined, ceiling | Floor, wall, inclined, ceiling |
| User I/O | One 8-pin circular connector at the tool flange | Same | Same |
Range of motion
| Joint | M6-CCS | M6-SRS | M3-CCS |
|---|---|---|---|
| J1 (rotation) | ±178° | ±178° | ±178° |
| J2 (lower arm) | ±120° | ±120° | ±120° |
| J3 (upper arm) | ±178° | ±178° | ±178° |
| J4 (wrist rotation) | -145° to +60° | -145° to +60° | -145° to +60° |
| J5 (wrist swing) | ±178° | ±178° | ±178° |
| J6 (wrist turn) | ±60° | ±110° | ±60° |
| J7 (wrist turn) | ±90° | ±360° | ±90° |
All three models have a maximum speed of 3.14 rad/s (180°/s) on J1–J7. On CCS models, the J6 and J7 ranges are coupled; see Figure 4-4 of the manual.
Operating environment
| Item | Requirement |
|---|---|
| Temperature | 0 to 45 °C |
| Humidity | 20 to 80 %RH (non-condensing) |
| Vibration | 4.9 m/s² (0.5 G) or less |
| Altitude | Below 1000 m |
| Other | No flammable or corrosive gases or liquids; no splashing water, little oil or dust; away from electromagnetic sources and magnetic fields |
D-H parameters
Frame definitions are in Figure 4-5 (CCS) and Figure 4-6 (SRS) of the manual. Units: a and d in mm, α and θ in degrees.
Marvin M6-S-L/R-CCS-696-V4.0
| Joint | aᵢ₋₁ | αᵢ₋₁ | dᵢ | θᵢ |
|---|---|---|---|---|
| 1 | 0 | 0 | 174.5 | 0 |
| 2 | 0 | 90 | 0 | 0 |
| 3 | 0 | -90 | 287 | 0 |
| 4 | 18 | 90 | 0 | 180 |
| 5 | 18 | 90 | 314 | 180 |
| 6 | 0 | 90 | 0 | 90 |
| 7 | 0 | 90 | 0 | 90 |
| Flange | 0 | 90 | 95 | 90 |
Marvin M3-S-L/R-CCS-615-V2.0
| Joint | aᵢ₋₁ | αᵢ₋₁ | dᵢ | θᵢ |
|---|---|---|---|---|
| 1 | 0 | 0 | 177 | 0 |
| 2 | 0 | 90 | 0 | 0 |
| 3 | 0 | -90 | 272 | 0 |
| 4 | 18 | 90 | 0 | 180 |
| 5 | 18 | 90 | 256 | 180 |
| 6 | 0 | 90 | 0 | 90 |
| 7 | 0 | 90 | 0 | 90 |
| Flange | 0 | 90 | 87 | 90 |
Marvin M6-S-L/R-SRS-686-V4.0
| Joint | aᵢ₋₁ | αᵢ₋₁ | dᵢ | θᵢ |
|---|---|---|---|---|
| 1 | 0 | 0 | 174.5 | 0 |
| 2 | 0 | 90 | 0 | 0 |
| 3 | 0 | -90 | 287 | 0 |
| 4 | 18 | 90 | 0 | 0 |
| 5 | -18 | -90 | 242 | 0 |
| 6 | 0 | 90 | 0 | 0 |
| 7 | 0 | -90 | 0 | 0 |
| Flange | 0 | 0 | 157 | 0 |
Differences between sources
The product brochure (June 2026) differs from the manual as follows. Follow the manual and confirm against your delivered configuration:
| Item | Manual V2.2 | Product brochure |
|---|---|---|
| Arm supply | DC48V ±20%; per arm 300 W typical, 600 W peak | 48 V (±10%); 400 W average, 600 W peak |
| M6-SRS repeatability | ±0.02 mm | ±0.03 mm |
| M6-SRS J7 range | ±360° | ±178° |
Tool flange dimensions, payload center-of-gravity limits, and mounting dimensions are in sections 4.6, 4.7, and 2.5 of the manual.