CRS F3, User Manual

Page: 54 / 128

40 F3 Robot Arm User Guide
99-05-31
Motion Specifications
The following tables list the speed and acceleration ratings of
the F3 robot.
Speed at End-Effector
Maximum Speeds
Motion
Compounded joint interpolated motions 3.9 m/sec
Average pick and place cycle time
2
1.2 sec
End-effector speed in teach mode
3
250 mm/sec
Joint Speeds
Individual Joint Speeds at 100% Program Speed
Joint Axis Motor
rpm
Gear
Reduction
Maximum Speed
°°°°
/s
Waist 1 4000 100:1 240
Shoulder 2 4000 100:1 210
Elbow 3 4000 100:1 240
Wrist rotate 4 5000 80:1 375
Wrist pitch 5 4000 80:1 300
Tool roll 6 5000 80:1 375
Joint Accelerations
Acceleration Rates
Joint
Default
°°°°
/s² Maximum
°°°°
/s²
Wrist
879 1,757
Shoulder
879 1,757
Elbow
879 2,636
Wrist Rotate
1,098 3,295
Wrist Pitch
1,098 3,295
Tool Roll
1,098 3,295
While the above table states the acceleration limits allowable by the system’s
Motion Engine, the following de-rating curves are more practical guidelines
for acceleration settings in order not to prematurely wear mechanical
components in the robot.
2
Based on a trajectory of one inch up, twelve inches across and one inch down.
3
A limit imposed by regulatory guidelines.