IAI America IX-NNW3515H - Manual (Page 51)

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7. Specifications
IX-NNN3515H (Arm Length 350, Standard Specification)
Item Specifications
Type IX-NNN3515H- L-T1
Degree of freedom Four degrees of freedom
Overall arm length 350
Arm 1 length 225
Arm 2 length
mm
125
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 + Belt + Reduction gear + Spline
Axis 1 (arm 1) 200
Axis 2 (arm 2) 100
Axis 3 (vertical axis) 100
Motor capacity
Axis 4 (rotational axis)
W
50
Axis 1 (arm 1) r120
Axis 2 (arm 2)
degree
r135
Axis 3 (vertical axis) (*1) mm 150
Movement
range
Axis 4 (rotational axis) degree r360
Axis 1 + Axis 2 (maximum
composite speed)
4042
Axis 3 (vertical axis)
mm/sec
1318
Maximum
operating
speed (*2)
Axis 4 (rotational axis) degree/sec 1600
Axis 1 + Axis 2 r0.010
Axis 3 (vertical axis)
mm
r0.010
Positioning
repeatability
precision (*3)
Axis 4 (rotational axis) degree r0.005
Standard cycle time (*4) sec 0.42/2 kg
Rated 1 Loading
capacity
Maximum
kg
3
Dynamic (*5) 111.0 (11.3) Push torque limit value: 70% Push-in thrust
of axis 3
(vertical axis)
Static (*6)
N (kgf)
58.0 (5.9) Push torque limit value: 40%
Permissible moment of inertia
(*7)
kg ˜m 2
0.015
Permissible
load on axis 4
Permissible torque
N
˜m
(kgf ˜cm)
1.9 (19.5)
Permissible tool diameter (*8) mm 80
Home detection Absolute
User wiring
D-sub 15-pin connector with 15-core AWG26 shielded cable
(socket)
Alarm indicator (*9) One small, red LED indicator (rated voltage: 24 V)
User piping
Three air tubes (outer diameter:
‡4, inner diameter: ‡2.5)
(normal service pressure: 0.8 MPa)