IAI America ZR-M - Manual (Page 28)

14
7. Specifications
Item Specification
Model ZR-S ZR-M
Z-axis (vertical axis) -
AC servo motor with brake + Belt + Ball screw
spline
Drive method
R-axis (rotational axis) -
AC servo motor + Belt + Gear reducer +
Spline
Z-axis (vertical axis) 100 200
Motor capacity
R-axis (rotational axis)
W
100 200
Z-axis (vertical axis) mm 150 200
Operation range
R-axis (rotational axis) degree
360
Z-axis (vertical axis) mm/s 1005 1256 Maximum operating
speed (Note 1)
R-axis (rotational axis) deg/s 2200
Z-axis (vertical axis) mm
0.010
Repeatability
(Note 2)
R-axis (rotational axis) degree
0.005
Rated 1 2
Loading capacity
Maximum
kg
3 6
Positioning operation
(Note 3)
107 (10.9) 171 (17.4) Z-axis (vertical axis)
maximum force
Push-motion operation
N (kgf)
74.8 (7.6) 120 (12.2)
Allowable inertial
moment (Note 4)
kg m 2
0.015 0.03
R-axis
allowable load
Allowable torque
N m
(kgf cm)
1.9 (19) 3.8 (38.8)
Home detection
Incremental encoder method/absolute
encoder method
Operating
environment Surrounding air
temperature/humidity
-
Temperature 0 to 40
C, humidity 20 to 85%
RH max. (non-condensing)
Actuator weight - kg 5.5 8
Power supply - 230 V 50/60 Hz 5 A
Controller Allowable power
supply
%
10
Note 1) Speed when each axis is moved independently to the target position at the specified speed.
Note 2) When the surrounding temperature is constant at 20
C.
Note 3) Forces up to three times the maximum force may generate momentarily.
Note 4) Equivalent allowable inertial moment (maximum value) at the center of the rotational axis.
(Refer to 9.3 (2), "Conditions of transferring load.")