Manual

46
7. Specifications
IX-INN-80H (arm length 800, inverse)
Item Specifications
Model number IX-INN80H-**L-T1
Degree of freedom Four degrees of freedom
Overall arm length 800
Arm 1 length 450
Arm 2 length
mm
350
Axis 1 (arm 1) AC servo motor + Speed reducer
Axis 2 (arm 2) AC servo motor + Speed reducer
Axis 3 (vertical axis) AC servo motor with brake + Belt + Ball-screw spline
Drive method
Axis 4 (rotational axis)
AC servo motor with brake + Reduction gear + Belt +
Spline
Axis 1 (arm 1) 750
Axis 2 (arm 2) 400
Axis 3 (vertical axis) 400
Motor capacity
Axis 4 (rotational axis)
W
200
Axis 1 (arm 1)
120
Axis 2 (arm 2)
degree
145
Axis 3 (vertical axis) (*1) mm 200 (option: 400)
Movement
range
Axis 4 (rotational axis) degree
360
Axis 1 + Axis 2 (maximum
composite speed)
7586
Axis 3 (vertical axis)
mm/sec
1614
Maximum
operating
speed (*2)
Axis 4 (rotational axis) degree/sec 1266
Axis 1 + Axis 2
0.015
Axis 3 (vertical axis)
mm
0.010
Positioning
repeatability
precision (*3)
Axis 4 (rotational axis) degree
0.005
Cycle time (*4) sec 0.43
Rated 5
Load capacity
Maximum
kg
20
Upper limit (*8) 304 (31.0) Push torque limit 70%
Axis 3 (vertical
axis)
Push force
control range
Lower limit (*9)
N (kgf)
146 (14.9) Push torque limit 40%
Permissible moment of inertia
(*5)
kg-m
2
0.1
Permissible
load on axis 4
Permissible torque N-m (kgf-cm) 11.7 (119.3)
Permissible tool diameter (*6) mm
100
Home detection Absolute
User wiring
D-sub 25-pin connector with 25-core AWG26 shielded
cable (socket)
Alarm indicator (*7) One small, red LED indicator (rated voltage: 24 V)
User piping
Two air tubes (outer diameter: 6, inner diameter: 4)
(normal service pressure: 0.8 MPa)
Two air tubes (outer diameter: 4, inner diameter: 2.5)
(normal service pressure: 0.8 MPa)