IAI America IX-NSN6016H - Manual (Page 65)

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7. Specifications
7.2 IX-NSN5016H/6016H
IX-NSN5016H (Arm length 500, high-speed)
Item Specifications
Type IX-NSN-5016H-**L-T1
Degree of freedom Four degrees of freedom
Overall arm length 500
Arm 1 length 250
Arm 2 length
mm
250
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 with brake + Reduction gear + Belt
+Spline
Axis 1 (arm 1) 750
Axis 2 (arm 2) 600
Axis 3 (vertical axis) 200
Motor capacity
Axis 4 (rotational axis)
W
100
Axis 1 (arm 1) r120
Axis 2 (arm 2)
degree
r145
Axis 3 (vertical axis) (Note 1) mm 160
Movement
range
Axis 4 (rotational axis) degree r360
Axis 1 + Axis 2 (maximum
composite speed)
5007
Axis 3 (vertical axis)
mm/sec
1304
Maximum
operating
speed (Note 2)
Axis 4 (rotational axis) degree/sec 1857
Axis 1 + Axis 2 r0.010
Axis 3 (vertical axis)
mm
r0.010
Positioning
repeatability
precision (Note
3)
Axis 4 (rotational axis) degree r0.010
Cycle time (Note 4) sec Over 0.28, under 0.29 sec
Rated 1 Load capacity
Maximum
kg
3
Upper limit (Note 5) 196 (20.0) Push torque limit 65% Axis 3 (vertical
axis)
Push force
control range
Lower limit (Note 6)
N (kgf)
116 (11.8) Push torque limit 40%
Permissible moment of inertia
(Note 7)
kg
‚
m 2 0.015
Permissible
load on axis 4
Permissible torque N
‚
m (kgf
‚
cm) 3.7 (38.1)
Permissible tool diameter (Note 8) mm ‡100
Home detection Absolute
User wiring
D-sub 25-pin connector with 25-core AWG26 shielded
cable (socket)
Alarm indicator (Note 9) One small, red LED indicator (rated voltage: 24 V)
User piping
Two air tubes (outer diameter: ‡6, inner diameter: ‡4)
(normal service pressure: 0.8 MPa)
Two air tubes (outer diameter:
‡4, inner diameter: ‡2.5)
(normal service pressure: 0.8 MPa)