IAI America IX-INN8040 - Manual (Page 71)

65
7. Speci
fi cations
IX-INN60 (Arm Length 600, Inverse Specification)
Item Specifications
Type IX-INN60-**L
Degree of freedom Four degrees of freedom
Overall arm length 600
Arm 1 length 350
Arm 2 length
mm
250
Axis 1 (arm 1) AC servo motor + Speed reducer
Axis 2 (arm 2) AC servo motor + Speed reducer
Axis 3 (vertical axis) AC servo motor with brake + Belt + Ball-screw spline
Drive method
Axis 4 (rotational axis) AC servo motor with brake + Speed reducer + Belt + Spline
Axis 1 (arm 1) 400
Axis 2 (arm 2) 200
Axis 3 (vertical axis) 200
Motor capacity
Axis 4 (rotational axis)
W
100
Axis 1 (arm 1)  120
Axis 2 (arm 2)
degree
 145
Axis 3 (vertical axis) (*1) mm 200 (Optional: 300)
Movement range
Axis 4 (rotational axis) degree  360
Axis 1 + Axis 2 (maximum composite speed) 7121
Axis 3 (vertical axis)
mm/sec
1393
Maximum
operating speed
(*2)
Axis 4 (rotational axis) degree/sec 1200
Axis 1 + Axis 2  0.010
Axis 3 (vertical axis)
mm
 0.010
Positioning
repeatability (*3)
Axis 4 (rotational axis) degree  0.005
Cycle time (*4)
0.52
Rated 2
Load capacity
Maximum
kg
10
Dynamic (*8) 152 (15.5)
Push-in thrust of
axis 3 (vertical axis)
Static (*9)
N (kgf)
108 (11.0)
Permissible moment of inertia (*5) kgm 2 0.06
Permissible load
on axis 4
Permissible torque Nm (kgfcm) 3.3 (33.6)
Permissible tool diameter (*6) mm  100
Origin detection Absolute
User wiring D-sub 25-pin connector with 25-core AWG26 shielded cable (socket)
Alarm indicator (*7) One small, red LED indicator (rated voltage: 24 V)
User piping
Two air tubes (outer diameter: 6, inner diameter: 4) (normal service pressure: 0.8 MPa)
Two air tubes (outer diameter: 4, inner diameter: 2.5) (normal service pressure: 0.8 MPa)