IAI America IX-NNW3515H User Manual
Page 56
50
7. Specifications
Top position
Tool
Bottom
position
Tool
Center of
rotational axis
Tool
40
Tool’s center
of gravity
Tool
Center of
rotational axis
φ 80
(Fig. 1)
(Fig. 2)
(Fig. 3)
(Fig. 4)
Note: Continuous operation at the
maximum speed is not feasible.
25 mm
300 mm
s
n
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i
t
a
c
i
f
i
c
e
p
S
m
e
t
I
Surrounding air temperature/humidity
Temperature: 0 to 40
°C, humidity: 20 to 85%RH or
less (non-condensing)
Operating
environment
s
s
e
l
r
o
0
0
0
,
1
m
e
d
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t
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A
1
7
B
d
e
s
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o
N
Robot weight
kg
21
Air purge pressure (*11)
Pressure before expansion of bellows within a range
of 0.05 to 0.6 MPa
Power supply
230 V 50/60 Hz 5 A
Allowable supply voltage
fluctuation
%
±10
Overvoltage category (IEC60664-1)
Category III
Controller
(*13)
3
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P
)
1
-
4
6
6
0
6
C
E
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(
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*1
To move the robot horizontally at high speed, perform teaching so that the vertical axis stays as close to the top position as
possible. (Fig. 1)
To operate the robot with its vertical axis at the bottom position, the speed and acceleration must be reduced as appropriate.
(Fig. 2)
*2:
Assuming PTP instruction operation. The maximum composite speed is not the maximum speed of CP operation.
*3:
Positioning precision when the robot is operated repeatedly to one specified position from the same starting position at the
same speed and acceleration/deceleration using the same arm (at a constant surrounding air temperature of 20
°
C). Take
note that this is not the absolute positioning precision.
Also note that the positioning repeatability may deviate from the specified value if the arm is changed, positioning is
performed to one specified position from multiple positions, or any of the operating conditions such as operating speed and
acceleration/deceleration setting is changed.
*4
Measured when the robot is operated at the maximum speed, carrying a load of 2 kg.
This cycle time assumes a reciprocating operation involving a vertical travel of 25 mm and horizontal travel of 300 mm.
(Rough positioning)
*5:
Push force when driver card parameter No. 38, “Push torque limit during positioning” is set to 70%.
*6:
Push force when driver card parameter No. 38, “Push torque limit during positioning” is set to 20%.
Although this parameter can be set to a desired value from 15 to 70%, push force will not stabilize if the set value is outside
the range of 20 to 70%.
*7
The permissible moment of inertia converted to a value at the rotational center of axis 4. The offset from the rotational center
of axis 4 to the tool’s center of gravity is assumed to be 40 mm or less. (Fig. 3)
If the tool’s center of gravity is further away from the rotational center of axis 4, the speed and acceleration must be reduced
as appropriate.
*8
If the tool exceeds the permissible diameter, it will contact the robot inside the robot’s range of movement. (Fig. 4)
*9
Connector pins 1 to 15 can be used. Pin 16 is connected to the shield wire and cannot be used for a signal wire.
*10
To enable the alarm LED indicator, the user must provide a circuit that supplies 24 VDC to the LED terminal in the user
connector in response to the controller I/O output signal, etc.
*11
As a guide, the recommended air purge pressure is 0.3 MPa or more (maximum pressure: 0.6 MPa or less). Raise the
pressure to a range of 0.3 to 0.6 MPa until the bellows start to inflate, and use the speed controller to adjust the flow rate.
For the purge fluid, use clean, dry air free from compressor oil or other contaminant, and make sure the air filtration level is 10
μm or less.
*12
The dust-proof/splash-proof specification has a dust-proof/splash-proof structure whose protection degree conforms to IP65.
The structure is not explosion-proof.
*13
The controller structure is not dust-proof or splash-proof.
Reference design standards: Annex I to Machine Directives, EN292-1, EN292-2, EN1050, EN60204-1, EN775
Brake power source for main unit
W
DC24VI10% 20W