IAI America IX-NSN6016 - Manual (Page 64)

58
7. Spesifi
cations
IX-NSN6016 (Arm Length 600, High-speed Specification)
Item Specifications
Type IX-NSN6016-**L-T1
Degree of freedom Four degrees of freedom
Overall arm length 600
Arm 1 length 350
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 + Speed reducer + 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) (*1) mm 160
Movement range
Axis 4 (rotational axis) degree r360
Axis 1 + Axis 2 (maximum composite speed) 5236
Axis 3 (vertical axis)
mm/sec
1085
Maximum
operating speed
(*2)
Axis 4 (rotational axis) degree/sec 1800
Axis 1 + Axis 2 r0.010
Axis 3 (vertical axis)
mm
r0.010
Positioning
repeatability (*3)
Axis 4 (rotational axis) degree r0.010
Cycle time (*4)
sec 0.38 second to less than 0.39 second
Rated 1
Load capacity
Maximum
kg
3
Dynamic (*5) 190 (19.3)
Push-in thrust of
axis 3 (vertical axis)
Static (*6)
N (kgf)
135 (13.8)
Permissible moment of inertia (*7) kg ˜m 2 0.015
Permissible load
on axis 4
Permissible torque N ˜m (kgf˜cm) 2.2 (21.8)
Permissible tool diameter (*8) mm I100
Origin detection Absolute
User wiring D-sub 25-pin connector with 25-core AWG26 shielded cable (socket)
Alarm indicator (*9) One small, red LED indicator (rated voltage: 24 V)
User piping
Two air tubes (outer diameter: I 6, inner diameter: I 4) (normal service pressure: 0.8 MPa)
Two air tubes (outer diameter: I 4, inner diameter: I 2.5) (normal service pressure: 0.8 MPa)