IAI America IX-UNN3515 - Manual (Page 65)

59
7. Speci
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7 Specifications
7.1 Specification Table
IX-TNN3015 (Arm Length 300, Wall-mounting)
IX-UNN3015 (Arm Length 300, Inverse)
Item Specifications
Type IX-TNN3015-**L-T1/ IX-UNN3015-**L-T1
Degree of freedom Four degrees of freedom
Overall arm length 300
Arm 1 length 175
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
r130
Axis 3 (vertical axis) (*1) mm 150
Movement
range
Axis 4 (rotational axis) degree r360
Axis 1 + Axis 2 (maximum
composite speed)
3560
Axis 3 (vertical axis)
mm/sec
1106
Maximum
operating
speed (*2)
Axis 4 (rotational axis)
degree/s
ec
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 0.49/2 kg
Rated 1 Load capacity
Maximum
kg
3
Dynamic (*5) 90.9 (9.3) Push-in thrust
of axis 3
(vertical axis)
Static (*6)
N (kgf)
65.3 (6.7)
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)
Tool allowable diameter (Note 6) 40
Origin 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)