IAI America IX-NNN1805 - Manual (Page 53)

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7. Specifications
Item Specifications
User piping Outer diameter
‡3, inner diameter ‡2, air tube x
2 pcs (service pressure 0.7 MPa)
Surrounding air temperature/humidity
Temperature: 0 to 40
qC, humidity: 20 to 85%RH or
less (non-condensing)
Operating
environment
Altitude m 1,000 or less
Noise dB 52 to 59
Robot weight kg 2.8
Power supply 230 V 50/60 Hz 15 A
Allowable supply voltage
fluctuation
% r10
Overvoltage category (IEC60664-1) Category III
Controller
Pollution degree (IEC60664-1) Pollution degree 3
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.
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
qC). 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) When 0.2 kg is carried at the maximum speed (with the robot moving back and force over 100 mm in
horizontal direction and 25 mm in vertical direction). 0.39 sec for the vertical axis with brake.
Note 5) 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 17.5 mm or less.
(Fig. 3)
If the gravity-center position of the tool is away from the center position of axis 4, the speed and/or
acceleration must be lowered as deemed appropriate.
Note 6) If the tool exceeds the permissible diameter, it will contact the robot inside the robot’s range of
movement. (Fig. 4)
Note 7) 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.
Note 8) A force as much as three times the dynamic push force may apply momentarily.
Note 9) Static thrust indicates a thrust force that applies within the range of operation when a PAPR
command is issued.
Note 10) When the suction rate is 90 Nl/min (-2025 mmAq).
Top position
Center of
rotational axis
Tool’s center
of gravity
Center of
rotational axis
‡35
(Fig. 1) (Fig. 2)
(Fig. 3) (Fig. 4)
Tool Bottom
position
Tool
Tool
Tool