Renesas RAA3064002GFP, Справочное руководство

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R01AN5644EJ0100 Rev.1.00 Page 25 of 62
Jan 22, 2021
Reference Guide for a 2-Axis Robot Arm with 2-Phase Stepping
Motors Incorporating Resolvers
RX24T, RX72M,
RAA3064002GFP/RAA3064003GFP
Table 1-8 List of Component Parts of the Demo System (3)
No.
Model Number
(Figure No.) Product Name Manufacturer
Required
Quantity Description
30 MSSF3-3 Hex socket set
screw - flat end
MISUMI Group Inc. 1 M3
×
3 mm locking
screw
31 SHNTU5-3 Pre-assembly
insertion spring nut
for 20-mm, 25-mm,
or 40-mm square
aluminum extrusion
MISUMI Group Inc. 2 Part for fixing the
laser module
Table 1-9 lists the mechanical specifications of this demo system. A movable range of
±
90° is enabled by the
combination of arms 1 and 2. The swing speed of each arm is in a one-to-one relationship with the rotation
speed of the motor because each combination of arm and motor forms a gearless direct drive. Though the
software controlling the motor can adjust the maximum swing speed and thus further increase it, the speed is
restricted for safety reasons.
The inertia values shown in Table 1-9 need to be set for the 42-mm and 85-mm square boards, respectively,
by the software controlling the motors.
Table 1-9 Mechanical Specifications of the Demo System
Item Value
Size (width × depth × height)
Note: Maximum movable range of an arm
Approximately 150 mm × 153 mm × 300 mm
Weight 10 kg
Maximum swing speed of an arm Arm 1: 10.5 [rad/s]
Arm 2: 31.4 [rad/s]
Maximum movable range of an arm
±
90°
Inertia from the 85-mm square motor 12 × 10-3 [kgm
2
]
Inertia from the 42-mm square motor 0.735 × 10-3 [kgm
2
]