IAI America IX-NNC3515 - Manual (Page 63)

57
7. Specifi
cations
7 Specifications
7.1 Specification Table
IX-NNC2515 (Arm Length 250, Clean-room Specification)
Item Specifications
Type IX-NNC2515- L-T1
Degree of freedom Four degrees of freedom
Overall arm length 250
Arm 1 length 125
Arm 2 length
mm
125
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 + Belt + Reduction gear + Spline
Axis 1 (arm 1) 200
Axis 2 (arm 2) 100
Axis 3 (vertical axis) 100
Motor capacity
Axis 4 (rotational axis)
W
50
Axis 1 (arm 1) r120
Axis 2 (arm 2)
degree
r120
Axis 3 (vertical axis) (*1) mm 150
Movement range
Axis 4 (rotational axis) degree r360
Axis 1 + Axis 2 (maximum composite speed) 3142
Axis 3 (vertical axis)
mm/sec
1106
Maximum
operating speed
(*2)
Axis 4 (rotational axis) degree/sec 1600
Axis 1 + Axis 2 r0.010
Axis 3 (vertical axis)
mm
r0.010
Positioning
repeatability (*3)
Axis 4 (rotational axis) degree r0.005
Cycle time (*4)
sec 0.49/2 kg
Rated 1
Load capacity
Maximum
kg
3
Dynamic (*5) 90.9 (9.3)
Push-in thrust of
axis 3 (vertical
axis)
Static (*6)
N (kgf)
65.3 (6.7)
Permissible moment of inertia (*7) kg ˜m 2 0.015
Permissible load
on axis 4
Permissible torque N ˜m (kgf˜cm) 1.9 (19.5)
Permissible tool diameter (*8) mm 40
Origin detection Absolute