IAI America IX-NNN12040 - Manual (Page 22)

1. Specifications Check
16
Note 1 Assuming PTP instruction operation. The maximum composite speed is not the maximum
speed of CP operation.
Note 2 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).
It is not the absolute positioning accuracy.
Also, when the arm system is changed over or when positioning to one setting position is
made from several different positions, there may be a possibility that the robot may get
out of the specification range of the positioning accuracy repeatability.
Note 3 It is the required time to run back and forth between positions that enable the fastest
motion under the following condition.
It is the time for back and forth cycle with 2kg of carrier, 25mm of up-down movement and
300mm of horizontal movement.
300mm
25mm
(Note) Even though the standard cycle time is the required time determined under the fastest
movement, continuous operation in the fastest movement cannot be conducted.
Note 4 It is the allowable moment of inertia converted to the center of the revolution in the
rotation axis.
[Refer to 2.3.2 [2] Attachment of Load for the offset from the revolution center of the 4 th
axis to the center of gravity of the load]If the center of gravity of the load is off the center
of the 4 th axis, it may cause vibration depending on the profile or attachment stiffness of
the load. In such a case, reduce the speed and acceleration till the vibration disappears.
Note 5 If the load is larger than the allowable diameter, it interferes with the robot body.
[Refer to 2.3.2 [2] Attachment of Load]
Caution: x If the robot is operated at a speed or acceleration/deceleration exceeding the
allowable value, abnormal noise or vibration, failure, or shorter life may result.
x If the robot is operated under a load equal to or greater than the allowable load
moment, abnormalnoise or vibration, failure, or shorter life may result. In an
extreme case, flaking may occur.
x Attaching a load beyond the allowable overhang length may generate vibration
or abnormal noise.