Iai-america IX-UNN3515H Manuel d'utilisateur télécharger pdf (Page 37)

7. Speciﬁcations

Item Specifications

Surrounding air temperature/humidity

Temperature: 0 to 40°C, humidity: 20 to 85%RH or

less (non-condensing)

Operating

environment

sselro000,1medutitlA

BdesioN 71

Robot weight

21.9

Power supply 230 V 50/60 Hz 5 A

Allowable supply voltage

fluctuation

±10

Overvoltage category (IEC60664-1) Category III

Controller

3eergednoitulloP)1-46606CEI(eergednoitulloP

*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)

*2: Assuming PTP instruction operation. The maximum composite speed is not the maximum speed of CP

operation.

*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°C). 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.

*4: Measured when the robot is operated at the maximum speed, carrying a load of 2 kg.

*5: Push force when driver card parameter No. 38, “Push torque limit during positioning” is set to 70%.

*6: Push force when driver card parameter No. 38, “Push torque limit during positioning” is set to 20%.

Although this parameter can be set to a desired value from 15 to 70%, push force will not stabilize if the

set value is outside the range of 20 to 70%.

*7: 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 40 mm or less. (Fig. 3)

If the tool’s center of gravity is further away from the rotational center of axis 4, the speed and acceleration

must be reduced as appropriate.

*8: 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.

Reference design standards: Annex I to Machine Directives, EN292-1, EN292-2, EN1050, EN60204-1, EN775

Top

osition

Tool

Bottom

position

Tool

Tool’s center

of gravity

Center of

rotational axis

(Fig. 1)

(Fig. 2)

(Fig. 3)

Brake power source for main unit

DC24VI10% 20W

1 2 ... 32 33 34 35 36 37 38 39 40 41 42 ... 79 80

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Iai-america IX-UNN3515H Manuel d'utilisateur Page 37

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