IAI America IX-NSN6016H - Manual (Page 61)

53
7. Specifications
IX-NNN70 H (Arm Length 700, Standard Specification)
Item Specifications
Type IX-NNN70 H- L-T1
Degree of freedom Four degrees of freedom
Overall arm length 700
Arm 1 length 350
Arm 2 length
mm
350
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) 750
Axis 2 (arm 2) 400
Axis 3 (vertical axis) 400
Motor capacity
Axis 4 (rotational axis)
W
200
Axis 1 (arm 1) r125
Axis 2 (arm 2)
degree
r145
Axis 3 (vertical axis) (Note 1) mm 200 (option: 400)
Movement
range
Axis 4 (rotational axis) degree r360
Axis 1 + Axis 2 (maximum
composite speed)
7010
Axis 3 (vertical axis)
mm/sec
1614
Maximum
operating
speed (Note 2)
Axis 4 (rotational axis) degree/sec 1266
Axis 1 + Axis 2 r0.015
Axis 3 (vertical axis)
mm
r0.010
Positioning
repeatability
precision (Note
3)
Axis 4 (rotational axis) degree r0.005
Cycle time (Note 4) sec 0.42
Rated 5 Load capacity
Maximum
kg
20
Upper limit (Note 8) 304 (31.0) Push torque limit 70% Axis 3 (vertical
axis)
Push force
control range
Lower limit (Note 9)
N (kgf)
146 (14.9) Push torque limit 40%
Permissible moment of inertia
(Note 5)
kg
‚
m 2 0.1
Permissible
load on axis 4
Permissible torque N
‚
m (kgf
‚
cm) 11.7 (119.3)
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)