adept technology Quattro s650H, Руководство пользователя

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Chapter 7: Technical Specifications
Table 7-8. Payload Mass vs. Acceleration - s800 Quattro
Platform Payload Maximum Acceleration Preferred Acceleration
Type kg %
a
m/s
2
g %
a
m/s
2
g
P30 10.0 90 17.6 1.8 45 8.8 0.9
P30 8.0 120 23.5 2.4 60 11.8 1.2
P30 6.0 200 39.2 4.0 80 15.7 1.6
ALL 4.0 300 58.8 6.0 120 23.5 2.4
ALL 2.0 560 109.8 11.2 240 47.0 4.8
ALL 1.5 580 113.7 11.6 320 62.7 6.4
ALL 1.0 600 117.6 12.0 320 62.7 6.4
ALL 0.1 612 120.0 12.2 320 62.7 6.4
a
% is the V+ Accel/Decel setting, which, for the Quattro, can be set as high as 1000%.
Payload Inertia vs. Acceleration
The following table provides a general guideline based on typical high-performance use. The
practical inertia for any application will vary depending on the performance requirements.
Table 7-9. Payload Inertia vs. Acceleration
Platform
60 deg. 185 deg. P31 P32 P34
Acceleration
Value
Allowable Tool Inertia (kg-cm
2
)
100 672 75 750 188 47
250 269 30 300 75 19
500
134 15 150 37 9
750
90 10 100 25 6
NOTE: The P30 platform is not listed in this table because this platform does not
rotate. Payloads for the P30 platform should be designed with their center-of-mass
in line with the center axis of the tool flange. This will minimize induced torque
during XYZ motions.
Adept Quattro User's Guide, Rev E
Page 121 of 180