Instruction Manual

53
7. Specifications
IX-NNC3515H (Arm Length 350, Clean Room Specification)
Item Specifications
Type IX-NNW3515H-L-T1
Degree of freedom Four degrees of freedom
Overall arm length 350
Arm 1 length 225
Arm 2 length
mm
125
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 + Belt + Reduction gear + Spline
Axis 1 (arm 1) 200
Axis 2 (arm 2) 100
Axis 3 (vertical axis) 100
Motor capacity
Axis 4 (rotational axis)
W
50
Axis 1 (arm 1)
120
Axis 2 (arm 2)
degree
135
Axis 3 (vertical axis) (*1) mm 150
Movement
range
Axis 4 (rotational axis) degree
360
Axis 1 + Axis 2 (maximum
composite speed)
4042
Axis 3 (vertical axis)
mm/sec
1316
Maximum
operating
speed (*2)
Axis 4 (rotational axis) degree/sec 1600
Axis 1 + Axis 2
0.010
Axis 3 (vertical axis)
mm
0.010
Positioning
repeatability
precision (*3)
Axis 4 (rotational axis) degree
0.005
Standard cycle time (*4)
sec 0.46
Rated 1
Loading
capacity
Maximum
kg
3
Dynamic (*5)
111.0 (11.3)
Push torque limit value: 70%
Push-in thrust
of axis 3
(vertical axis)
Static (*6)
N (kgf)
58.0 (5.9) Push torque limit value: 40%
Permissible moment of inertia
(*7)
kgm
2
0.015
Permissible
load on axis 4
Permissible torque
Nm
(kgfcm)
1.9 (19.5)
Permissible tool diameter (*8) mm 40
Home detection Absolute
User wiring
D-sub 15-pin connector with 15-core AWG26 shielded cable
(socket)
Alarm indicator (*9) One small, red LED indicator (rated voltage: 24 V)
Suction pipe joint
Applicable tube: Outer diameter 12 (inner diameter 8)