IAI America IX-NNW3515H User Manual
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7. Specifications
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User piping
Three air tubes (outer diameter:
φ 4, inner diameter: φ 2.5)
(normal service pressure: 0.8 MPa)
Surrounding air temperature/humidity
Temperature: 0 to 40
°C, humidity: 20 to 85%RH or
less (non-condensing)
Operating
environment
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Robot weight
kg
19
Cleanliness class
Class 10 (Base: 0.1
μm, when suctioned)
Suction flow rate (Note 10)
60 NI/min
Power supply
230 V 50/60 Hz 5 A
Allowable supply voltage
fluctuation
%
±10
Overvoltage category (IEC60664-1)
Category III
Controller
3
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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.
To operate the robot with its vertical axis at the bottom position, the speed and acceleration must be reduced as
appropriate.
*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.
*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.
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
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.
*10 Use this value as a rough guide on suction flow rate.
Reference design standards: Annex I to Machine Directives, EN292-1, EN292-2, EN1050, EN60204-1, EN775
Top position
Tool
Bottom
position
Tool
Center of
rotational axis
Tool
Tool’s center
of gravity
Tool
Center of
rotational axis
φ
100
(Fig. 1)
(Fig. 2)
(Fig. 3)
(Fig. 4)
Brake power source for main unit
W
DC24VI10% 20W