IAI R-unit RSEL, Instruction Manual, Page: 786 / 844

Chapter
13 Appendix
13.2 Connectable Actuators
13-43
ME0392-4C
WU Series
Actuator
series
Type Axis
Motor
type
No. of
encoder
pulses
Lead
[mm]
Minimum
speed
(Note 1)
[deg/s]
Maximum
speed
[deg/s]
Maximum
acceleration
/deceleration
[G]
Minimum
push force
[N]
Maximum
push force
[N]
Rated
push
speed
[mm/s]
WU
S
B-axis
Oscillation
28P
8192
Deceleration
ratio
16
28
(In individual
operation)
750
(In individual
operation)
600
(In simultaneous
operation)
0.7
(With no load
torque)
0.3
(With load torque)
－ － －
T-axis
Rotation
28P
Deceleration
ratio
16
28
(In individual
operation)
1200
(In individual
operation)
600
(In simultaneous
operation)
0.7
(With no load
torque)
0.3
(With load torque)
M
B-axis
Oscillation
35P
8192
Deceleration
ratio
20
22
(In individual
operation)
900
(In individual
operation)
600
(In simultaneous
operation)
0.7
(With no load
torque)
0.3
(With load torque)
－ － －
T-axis
Rotation
35P
Deceleration
ratio
20
22
(In individual
operation)
1200
(In individual
operation)
600
(In simultaneous
operation)
0.7
(With no load
torque)
0.3
(With load torque)
Note 1 As the wrist unit has the B-axis and T-axis interlocked with each other inside, when operating the axes at the same time, operation is
available with the following conditions satisfied.
WU-S, WU-M Standard Type : B-axis velocity > minimum velocity in individual movement and also |B-axis velocity - T-axis velocity| >
minimum velocity in individual movement [deg/s]
WU-M Reversed Type : B-axis velocity > minimum velocity in individual movement and also |B-axis velocity - T-axis velocity| >
minimum velocity in individual movement [deg/s]
(Calculate with negative values for rotation to negative coordinate direction. | | show absolute values)