IAI RoboNet, Руководство по эксплуатации

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Part 1 Specification
4.2 Basic Specifications
The basic specifications are the same between the RACON and RPCON.
Item Specification
Number of controllable axes 1 axis
Power-supply voltage 24 VDC
±
10%
Standard specification, high
acceleration/deceleration type
Energy-saving type
Actuator
Rating Max. *1 Rating Max. *1
SA4•SA5•RA4
(20W) type
1.3 A 4.4 A 1.3 A 2.5 A
SA6•RA4
(30W) type
1.3 A 4.0 A 1.3 A 2.2 A
R
C
A
RA3 (20W) type 1.7 A 5.1 A 1.7 A 3.4 A
SA3 (10W) type
SA5•TA6
(20W) type
1.3 A 4.4 A 1.3 A 2.5 A
SA6•TA7
(30W) type
1.3 A 4.0 A 1.3 A 2.2 A
R
C
A
2
RA4•TA5
(20W) type
1.7 A 5.1 A 1.7 A 3.4 A
RA1L•SA1L 0.8 A 4.6 A
RA2L•SA2L 1.0 A 6.4 A
RACON
Unit
R
C
L
RA3L•SA3L 1.3 A 6.4 A
Actuator Rating Max. *2
20P,28P,28SP motor 0.4 A 2.0 A
Power-supply current
RPCON
Unit
42P,56P motor 1.2 A 2.0 A
Positioning commands Position number specification, numerical specification
Number of positioning points 768 points
Serial communication RS485, 1 channel (dedicated connector)
Communication protocol Modbus protocol
RCP*, RCA* 800 P/rev
RA1L, SA1L 715 P/rev
RA2L, SA2L 855 P/rev
Encoder
resolution
R
C
L
RA3L, SA3L 1145 P/rev
Encoder interface Incremental specification conforming to EIA RS-422A/423A
Backup memory Position table data and parameters are saved in the nonvolatile memory.
Serial EEPROM rewrite life: 100,000 times max.
LED indicators Servo ON indicator, alarm indicator, communication status indicator, status indicator
Forced release of electromagnetic
brake Brake release switch on the front panel
Emergency stop circuit Built-in drive-source cutoff relay
Surrounding air temperature
0 to 50
°
C (*3)
Surrounding humidity 95% RH max. (non-condensing)
Surrounding environment Free from corrosive gases
Surrounding storage temperature -25 to 70
°
C
Surrounding storage humidity 95% RH max. (non-condensing)
Vibration resistance XYZ directions:
10 to 57 Hz, half amplitude – 0.035 mm (continuous) / 0.075 mm (intermittent)
57 to 150 Hz – 4.9 m/s
2
(continuous) / 9.8 m/s
2
(intermittent)
Environment
Impact resistance XYZ directions: 147 mm/s
2
, 11 ms, half-sine wave pulse
Protection degree IP20
Cooling Forced air cooling (built-in fan)
Weight 200 g
External dimensions 34 W x 105 H x 73.3 D mm
*1 The current becomes the maximum during the excited-phase detection of the servo motor performed when the servo is
turned on for the first time following the power on. (Normal: Approx. 1 to 2 seconds, Maximum: 10 seconds)
*2 The current becomes the maximum during the excited-phase detection performed when the servo is turned on for the first
time following the power on. (Normal: 100 msec)
*3 The operating surrounding air temperature of a ROBONET system is 0 to 40
°
C.