adept technology AdeptViper s650, Руководство пользователя

Страница: 68 / 76

Chapter 7 - Technical Specifications
68 AdeptViper s650/s850 Robot User’s Guide, Rev A
7.3 Specifications
Table 7-1. Robot Specifications
Specification s650 s850
Overall arm length 270 (first arm) + 295 (second
arm) = 565 mm 365 (first arm) + 405 (second
arm) = 770 mm
Arm offset J1 (swing): 75 mm, J3 (front
arm): 90 mm J1 (swing): 75 mm, J3 (front
arm): 90 mm
Maximum motion area R = 733 mm (end-effector
mounting face)
R = 653 mm (Point P: J4, J5,
J6 center) R = 934 mm (end-effector
mounting face)
R = 854 mm (Point P: J4, J5,
J6 center)
Motion range J1: ±170°
J2: -190°, +45°
J3: -29°, +256°
J4: ±190°
J5: ±120°
J6: ±360° J1: ±170°
J2: -190°, +45°
J3: -29°, +259°
J4: ±190°
J5: ±120°
J6: ±360°
Maximum joint speed J1: 328°/sec
J2: 300°/sec
J3: 375°/sec
J4: 375°/sec
J5: 375°/sec
J6: 600°/sec J1: 250°/sec
J2: 250°/sec
J3: 250°/sec
J4: 375°/sec
J5: 375°/sec
J6: 600°/sec
Maximum composite speed
(at the center of an
end-effector mounting face) 8200 mm/s 7600 mm/s
Maximum payload 5 kg 5 kg
Position repeatability (Note 1) In each of X, Y and Z
directions: ±0.02 mm In each of X, Y and Z
directions: ±0.03 mm
Maximum allowable inertia
moment Around J4: 0.295 kgm
2
Around J5: 0.295 kgm
2
Around J6: 0.045 kgm
2
Around J4: 0.295 kgm
2
Around J5: 0.295 kgm
2
Around J6: 0.045 kgm
2
Position detection Simplified absolute encoder Simplified absolute encoder
Drive motor and brake AC servomotors for all joints,
Brakes for joints J2 to J6 AC servomotors for all joints,
Brakes for joints J2 to J6
User air piping (Note 2) 7 systems (
Ø
4x6,
Ø
6x1), 3
solenoid valves (2-position,
double solenoid) contained.
7 systems (
Ø
4x6,
Ø
6x1), 3
solenoid valves (2-position,
double solenoid) contained.
User signal line 10 (for proximity sensor
signals, etc.) 10 (for proximity sensor
signals, etc.)
Air source - Operating
pressure 1.0 × 10
5
Pa to 3.9 × 10
5
Pa 1.0 × 10
5
Pa to 3.9 × 10
5
Pa