IAI America IX-NSN6016H User Manual
Page 66
58
7. Specifications
Item
Specifications
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
u
t
i
t
l
A
B
d
e
s
i
o
N
73
Robot weight
kg
32
Power supply
230 V 50/60 Hz 14 A
Allowable supply voltage
fluctuation
%
±
10
Overvoltage category (IEC60664-1)
Category III
Controller
3
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o
i
t
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o
P
)
1
-
4
6
6
0
6
C
E
I
(
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P
Note 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)
Note 2) Assuming PTP instruction operation. The maximum composite speed is not the maximum speed of CP
operation.
Note 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.
Note 4) Measured when the robot is operated at the maximum speed, carrying a load of 2 kg.
Note 5) Push force when driver card parameter No. 38, “Push torque limit during positioning” is set to 70%.
Note 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 40 to 65%.
Note 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.
Note 8) If the tool exceeds the permissible diameter, it will contact the robot inside the robot’s range of
movement. (Fig. 4)
Note 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.
Reference design standards: Annex I to Machine Directives, EN292-1, EN292-2, EN1050, EN60204-1, EN775
Top
position
Tool
Bottom
position
Tool
Tool
Tool’s center
of gravity
Tool
φ 100
(Fig. 1)
(Fig. 2)
(Fig. 3)
(Fig. 4)
Brake power source for main unit
W
DC24VI10% 20W