Omron i4-650H, Руководство пользователя

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2-2 Performance Specifications
The following sections provide robot performance specifications.
2-2-1
General Performance Information
The following table provides general performance information for the robot.
Item i4-650H i4-750H i4-850H
Maximum Payload
*1
15 kg
Reach 650 mm 750 mm 850 mm
Joint Range Joint 1 ±152°
Joint 2 ±140°
Joint 3
•
210 mm
•
410 mm (long quill model)
Joint 4 ±360°
Joint 4 Moment of Inertia
0.5 kg-m
2
maximum
Downward Push Force burst
with no load
*2
588 N
Cycle Time
*3*4
0.45 s 0.46 s 0.50 s
Repeatability at 100% speed
•
X, Y: ±0.015 mm
•
Joint 3: ±0.01 mm
•
Joint 4: ±0.005°
Joint speeds
(maximum) Joint 1 450 deg/s
Joint 2 720 deg/s
Joint 3 1583 mm/s
Joint 4 2400 deg/s
*1. Payload is considered as any object(s) attached to a robot link or tool flange including items such as end-
effectors, tooling, valves, grippers, and objects being handled by the robot.
*2. At a duty cycle of 3 seconds pushing and then 2 seconds not pushing.
*3. Cycle time is defined as a continuous path with straight-line motion cycle in which the robot tool moves up
25 mm, over 305 mm, down 25 mm, and then back along the same path (not achievable over all paths in
the robot working envelope). Values listed are for sustained motion, no joint 4 rotation, with a 2 kg payload
at 20° C ambient temperature.
*4. Cycle times may increase by up to 15% when operating in ambient temperatures above 20° C.
Z-axis Quill Bending Moment
When the robot is operating at high payloads with high acceleration / deceleration, the z-axis quill is
subject to excessive bending moments. Careful considerations must be made under these conditions.
Refer to
4-2 Payload and Acceleration Considerations on page 4-3 for more information.
2-2-2 Stopping Distances and Times
The following graphs present information required by Clause 7.2 n of ISO 10218-1. This information
should be used to calculate the safe distance needed when designing and installing safeguarding de-
vices.
2 Specifications
2-10
i4H Robots User's Manual (I660)