Manual

50
7. Specifi cations
7 Specifications
7.1 Specification Table
IX-NNN50 (Arm Length 500, Standard Specification)
Item Specifications
Type IX-NNN50-L-T1
Degree of freedom Four degrees of freedom
Overall arm length 500
Arm 1 length 250
Arm 2 length
mm
250
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 + Speed reducer +
Belt + Spline
Axis 1 (arm 1) 400
Axis 2 (arm 2) 200
Axis 3 (vertical axis) 200
Motor
capacity
Axis 4 (rotational axis)
W
100
Axis 1 (arm 1)
r120
Axis 2 (arm 2)
degree
r145
Axis 3 (vertical axis) (*1) mm 200 (Optional: 300)
Movement
range
Axis 4 (rotational axis) degree
r360
Axis 1 + Axis 2 (maximum
composite speed)
6283
Axis 3 (vertical axis)
mm/sec
1393
Maximum
operating
speed (*2)
Axis 4 (rotational axis) degree/sec 1200
Axis 1 + Axis 2
r0.010
Axis 3 (vertical axis)
mm
r0.010
Positioning
repeatability
accuracy (*3)
Axis 4 (rotational axis) degree
r0.005
Standard cycle time (*4) sec 0.44
Rated 2 Load
capacity
Maximum
kg
10
Dynamic (*8) 152 (15.5) Push-in
thrust of axis
3 (vertical
axis)
Static (*9)
N (kgf)
108 (11.0)
Permissible moment of
inertia (*5)
kgm
2
0.06
Permissible
load on axis 4
Permissible torque
Nm (kgfcm)
3.3 (33.6)
Permissible tool diameter (*6) mm
I 100
Origin 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: I 6, inner diameter:
I 4) (normal service pressure: 0.8 MPa)
Two air tubes (outer diameter: I 4, inner diameter:
I 2.5) (normal service pressure: 0.8 MPa)