EFORT ER12-4-2000, Руководство по эксплуатации и обслуживанию

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Mechanical Operation and Maintenance Manual for Industrial Robot ER12-4-2000
14
2.6 Robot Performance Parameters
2.6.1 Table of Robot Performance Parameters
Note:
（
*
）
The description of the mark is as follows:
1) The
（
*
）
mark of the J3 axis indicates that when J2 axis in the state of
“-85º≤J3≤+40° ”
, the action range of
the J3 axis is
“-70º≤J3≤+15° ”
.
2) When J2 axis is at an certain angle, the action range of the J3 axis is based on its maximum possible
action range of
“-70º≤J3≤+100° ”
, and the constraints condition of
“-85º≤J2≤+40°&-90º≤J2+J3≤+15° ”.
For example: (1) when the J2 axis is in -85°, the action range of the J3 axis is
“
-5º≤J3≤+100°
”
(2) when the J2 axis is in -20°, the action range of the J3 axis is
“
-70º≤J3≤+35°
”
.
(3) when the J2 axis is in a 0° state, the action range of the J3 axis is
“
-70º≤J3≤+15°”
.
(4) when the J2 axis is in +40°, the action range of the J3 axis is
“
-70º≤J3≤-25°
”
.
Performance Parameter Table
Model ER12-4-2000
Action type Articular type
Control axis 4 Axis
Maximum speed
of motion
J1 axis 240°/s
J2 axis 240°/s
J3 axis 190°/s
J4 axis 330°/s
Maximum range
of motion
J1 axis ±165°
J2 axis
-85°/+40° -90º≤J2+J3≤+15°
J3 axis
-70°/+100°
（
*
）
J4 axis ±360°
Maximum radius of activity 2000mm
Maximum payload on wrist 12 kg
Installation conditions Ground installation, suspension installation
Protection level IP54
Repeat positioning accuracy ±0.07mm
Body weight 240kg