IAI America IX-NNN1805 - Manual (Page 46)

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7. Specifications
7. Specifications
7.1 IX-NNN1205/1505/1805
IX-NNN-1205 (Arm Length 120, Standard Specification)
Item Specifications
Model number IX-NNN1205-**L
Degree of freedom Four degrees of freedom
Overall arm length 120
Arm 1 length 45
Arm 2 length
mm
75
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 + Belt + Ball-screw spline
Drive method
Axis 4 (rotational axis) AC servo motor + Spline (directly coupled)
Axis 1 (arm 1) 12
Axis 2 (arm 2) 12
Axis 3 (vertical axis) 12
Motor capacity
Axis 4 (rotational axis)
W
60
Axis 1 (arm 1) r115
Axis 2 (arm 2)
degree
r145
Axis 3 (vertical axis) (*1) mm 50
Movement
range
Axis 4 (rotational axis) degree r360
Axis 1 + Axis 2 (maximum
composite speed)
2053
Axis 3 (vertical axis)
mm/sec
720
Maximum
operating
speed (*2)
Axis 4 (rotational axis) degree/sec 1800
Axis 1 + Axis 2 r0.005
Axis 3 (vertical axis)
mm
r0.010
Positioning
repeatability
(*3)
Axis 4 (rotational axis) degree r0.005
Cycle time (*4) sec 0.35
Rated 0.2 Load capacity
Maximum
kg
1.0
Dynamic (*8) 17.8 (1.8) Push force of
axis 3 (vertical
axis)
Static (*9)
N (kgf)
9.8 (1.0)
Permissible moment of inertia
(*5)
kg-m 2 386
Permissible
load on axis 4
Permissible torque N
‚
m (kgf
˜cm) 0.13 (1.3)
Permissible tool diameter (*6) mm ‡35
Home detection Absolute
User wiring
Connector with 8-core AWG26 shielded cable: SMP-08V-
NC (JST)
Alarm indicator (*7) One small, red LED indicator (rated voltage: 24 V)
User piping
Two air tubes (outer diameter: ‡3 inner diameter: ‡2)
(normal service pressure: 0.7 MPa)