Epson T3 Series, Безопасность и установка

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1. Safety
Safety and Installation (T, VT / EPSON RC+ 7.0) Rev.15 31
1.8 Manipulator Specifications
T series Manipulator
Item
T3-401S T6-602S
Arm length
Arm #1, #2 400 mm 600 mm
Arm #1 225 mm 325 mm
Arm #2 175 mm 275 mm
Weight (cables not included) 16 kg: 35 lbs. 22 kg: 49 lbs.
Driving method All joints AC servo motor
Max. operating
speed*1
Joints #1, #2 3700 mm/s 4180 mm/s
Joint #3 1000 mm/s 1000 mm/s
Joint #4
2600 ° /s 1800 ° /s
Repeatability
Joints #1, #2
± 0.02 mm ± 0.04 mm
Joint #3
± 0.02 mm ± 0.02 mm
Joint #4
± 0.02 ° ± 0.02 ° .
Max.
motion range
Joint #1
± 132 ° ± 132 ° .
Joint #2
±
141
° ±
150
°
Joint #3 150 mm 200 mm
Joint #4
±
360
° ±
360
°
Max.
pulse range
Joint #1
− 95574 to 505174 − 152918 to 808278
Joint #2
±
320854
±
341334
Joint #3
− 187734 to 0 − 245760 to 0
Joint #4
±
71760
±
245760
Resolution
Joint #1
0.000439 ° /pulse 0.000275 ° /pulse
Joint #2
0.000439 ° /pulse 0.000439 ° /pulse
Joint #3 0.000799 mm/pulse 0.000814 mm/pulse
Joint #4
0.005017
°
/pulse 0.001465
°
/pulse
Motor rated capacity
Joint #1 200 W 300 W
Joint #2 100 W 200 W
Joint #3
100 W
Joint #4 100 W
Payload (Load)
Rated 1 kg 2 kg
Max. 3 kg 6 kg
Joint #4 allowable
moment of inertia *2
Rated 0.003 kg·m
2
0.01 kg·m
2
Max. 0.01 kg·m 2 0.08 kg·m 2
Hand
Shaft diameter ø 16 mm ø 20 mm
Through hole ø 11 mm ø 14 mm
Joint #3 down force 83 N
Hand I/O Connecter 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 tube (ø4 mm) :
0.59 MPa (6 kgf/cm 2 : 86 psi)
Mounting hole
120 × 120 mm 150 × 150 mm
4-M8
Environmental
requirements
Ambient Temp.
5 to 40 ° C
(with minimum temperature variation)
Ambient relative
humidity
20 to 80% (no condensation)
Noise level *3 L
Aeq
= 70 dB (A) or under