IAI America IX-NSN6016H - Manual (Page 57)

49
7. Specifications
7 Specifications
7.1 IX-NNN50
H/60 H/70 H/80 H
IX-NNN50
H (Arm Length 500, Standard Specification)
Item Specifications
Type IX-NNN50 H- L-T1
Degree of freedom Four degrees of freedom
Overall arm length 500
Arm 1 length 250
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 + Reduction gear + 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) r120
Axis 2 (arm 2)
degree
r145
Axis 3 (vertical axis) (Note 1) mm 200 (option: 300)
Movement
range
Axis 4 (rotational axis) degree r360
Axis 1 + Axis 2 (maximum
composite speed)
6381
Axis 3 (vertical axis)
mm/sec
1473
Maximum
operating
speed (Note 2)
Axis 4 (rotational axis) degree/sec 1857
Axis 1 + Axis 2 r0.010
Axis 3 (vertical axis)
mm
r0.010
Positioning
repeatability
precision (Note
3)
Axis 4 (rotational axis) degree r0.005
Cycle time (Note 4) sec 0.39
Rated 2 Load capacity
Maximum
kg
10
Upper limit (Note 8) 181.0 (18.5) Push torque limit 70% Axis 3 (vertical
axis)
Push force
control range
Lower limit (Note 9)
N (kgf)
93 (9.5) Push torque limit 40%
Permissible moment of inertia
(Note 5)
kg
‚
m
2
0.06
Permissible
load on axis 4
Permissible torque N
‚
m (kgf
‚
cm) 3.7 (38.1)
Permissible tool diameter (Note 6) mm ‡100
Home detection Absolute
User wiring
D-sub 25-pin connector with25-core AWG26 shielded
cable (socket)
Alarm indicator (Note 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)