IAI America IX-UNN3515H - Manual (Page 36)

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7. Specifications
7.2 IX-TNN3515H, IX-UNN3515H
IX-TNN3515H (arm length 350, wall mount), IX-UNN3515H (arm length 350, inverse)
Item Specifications
Model number IX-TNN3515H-**L-T1/IX-UNN3515H-**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
1316
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
(*3)
Axis 4 (rotational axis) degree r0.005
Cycle time (*4) sec 0.42
Rated 1 Load capacity
Maximum
kg
3
Upper limit (*5) 111.0 (11.3) Push torque limit 70% Axis 3 (vertical
axis)
Push force
control range
Lower limit (*6)
N (kgf)
58.0 (5.9) Push torque limit 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 (*6) mm 40
Home detection Absolute
User wiring
D-sub 15-pin connector with 15-core AWG26 shielded
cable (socket)
Alarm indicator (*8) 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)