Epson LS series, Руководство манипулятора

Страница: 40 / 186

Setup & Operation 2. Specifications
26 LS Rev.10
2.4 Specifications
Item LS3-401* LS6-**2*
Arm length
Arm #1, #2 400 mm
50 500 mm
60 600 mm
70 700 mm
Arm #1 225 mm
50 225 mm
60 325 mm
70 425 mm
Arm #2 175 mm 275 mm
Max. operating speed *1
Joints #1, #2 6000 mm/s
50 6150 mm/s
60 6800 mm/s
70 7450 mm/s
Joint #3 1100 mm/s
Joint #4 2600 deg./s 2000 deg/s
Repeatability
Joints #1, #2
±
0.01 mm
±
0.02 mm
Joint #3
±
0.01 mm
Joint #4
±
0.01 deg.
Payload (Load)
Rated 1 kg 2 kg
Max. 3 kg 6 kg
Joint #4 allowable
moment of inertia
*2
Rated 0.005 kg·m
2
0.01 kg·m
2
Max. 0.05 kg·m
2
0.12 kg·m
2
Resolution
Joints #1 0.000439 deg./pulse 0.000275 deg/pulse
Joint #2 0.000439 deg./pulse
Joint #3 0.000799 mm/pulse 0.000814 mm/pulse
Joint #4 0.001927 deg./pulse 0.001465 deg/pulse
Hand
Shaft diameter ø 16 mm ø 20 mm
Through hole ø 11 mm ø 14 mm
Mounting hole
120
×
120 mm, 135
×
120 mm
(Free choice of either hole.)
150
×
150 mm
4-M8
Weight (cables not included)
14 kg : 31 lb
50 17 kg : 37.5 lb
60 17 kg : 37.5 lb
70 18 kg : 39.7 lb
Driving method All joints AC servo motor
Motor
energy consumption
Joint #1 200 W
Joint #2 100 W 200 W
Joint #3 100 W
Joint #4 100 W
Option Installation environment Cleanroom *3
Joint #3 down force 100 N
Installed wire for customer use 15 (15 pin: D-sub)
Installed pneumatic
tube for customer use
2 pneumatic tubes (ø6 mm) : 0.59 MPa (6 kgf/cm
2
: 86 psi)
1 pneumatic tubes (ø4 mm) : 0.59 MPa (6 kgf/cm
2
: 86 psi)
Environmenta
l requirements Ambient Temp. 5 to 40 degrees C (with minimum temperature variation)
Ambient relative humidity 10 to 80% (no condensation)
Noise level *4 L
Aeq
= 70 dB (A)
Applicable Controller RC90