Planarna četvorosna robota

Degrees of freedom

4

4

4

4

Maximum load

1kg/3kg

2kg/5kg

2kg/6kg

2kg/6kg

Maximum working radius

400mm

700mm

500mm

600mm

Repeat positioning accuracy

±0.01 mm

±0.02 mm

±0.02 mm

±0.02 mm

Range of motion

J1

±132°

±132°

±132°

±132°

J2

±135°

±150°

±150°

±150°

J3

0/-150mm

0/-200mm

0/-200mm

0/-200mm

J4

±360°

±360°

±360°

±360°

Maximum speed

J1

530°/s, 9.24 rad/s

335°/s, 5.84 rad/s

375°/s, 6.54 rad/s

375°/s, 6.54 rad/s

J2

700°/s, 12.21 rad/s

600°/s, 10.46 rad/s

600°/s, 10.46 rad/s

600°/s, 10.46 rad/s

J3

1165mm/s

1111mm/s

1111mm/s

1111mm/s

J4

2600°/s, 43.35 rad/s

2000°/s, 34.88 rad/s

2000°/s, 34.88 rad/s

2000°/s, 34.88 rad/s

Allowing for the moment of inertia

J4

0.005 kgm3

0.013 kgm3

0.013 kgm3

0.013 kgm3

Allowable Torque

J4

3.29Nm

4.23Nm

4.23Nm

4.23Nm

Applicable Environment

Temperature

0°C to 45°C

0°C to 45°C

0°C to 45°C

0°C to 45°C

Humidity

20% to 80%

20% to 80%

20% to 80%

20% to 80%

Other

Avoid contact with flammable, explosive, or corrosive gases and liquids, and keep away from sources of electronic noise (such as plasma).

Teaching device cable length

8m

8m

8m

8m

Body-to-cabinet connection cable length

3m

3m

3m

3m

I/O parameters

Digital inputs: 32-bit (NPN and PNP compatible), 32-bit digital outputs (NPN only)

Digital inputs: 32-bit (NPN and PNP compatible), 32-bit outputs (NPN only)

Digital inputs: 32-bit (NPN and PNP compatible), 32-bit digital outputs (NPN only)

Digital inputs: 32-bit (NPN and PNP compatible), 32-bit outputs (NPN only)

Body-prepared signal cable

15-pin (aircraft connector)

15-pin (aircraft connector)

15 positions (airplane plug connection)

15-pin (aircraft connector)

Reserved air circuit

3xφ6

3xφ6

3xφ6

3xφ6

Power capacity

0.61kVA

0.73kVA

0.73kVA

0.73kVA

Rated power/voltage/current

0.49 kW / Single-phase AC 220V / 2.7 A

0.58 kW / Single-phase AC 220 V / 3.1 A

0.58 kW / Single-phase AC 220 V / 3.1 A

0.58 kW / Single-phase AC 220 V / 3.1 A

Enclosure/Electrical Cabinet Protection Rating

IP54/IP20

IP54/IP20

IP54/IP20

IP54/IP20

Installation method

Floor and tabletop installation

Floor and tabletop installation

Floor and tabletop installation

Floor and tabletop installation

Body/Electrical Cabinet Weight

17.5kg/10.65kg

22.5kg/10.65kg

19kg/10.65kg

21.5kg/10.65kg

Degrees of freedom

4

4

4

4

Maximum load

5kg/10kg

5kg/10kg

10kg/20kg

10kg/20kg

Maximum working radius

600mm

800mm

800mm

1000mm

Repeat positioning accuracy

±0.025 mm

±0.025 mm

±0.025 mm

±0.025 mm

Range of motion

J1

±135°

±135°

±132°

±132°

J2

±155°

±155°

±155°

±155°

J3

0/-300mm

0/-300mm

0/-400mm

0/-400mm

J4

±360°

±360°

±360°

±360°

Maximum speed

J1

430°/s, 7.50 rad/s

430°/s, 7.50 rad/s

530°/s, 9.25 rad/s

420°/s, 7.33 rad/s

J2

650/s, 11.34 rad/s

650°/s, 11.34 rad/s

580°/s, 10.12 rad/s

580°/s, 10.12 rad/s

J3

2200mm/s

2200mm/s

2150mm/s

2150mm/s

J4

2250°/s, 39.26 rad/s

2250°/s, 39.26 rad/s

1700°/s, 29.67 rad/s

1700°/s, 29.67 rad/s

Allowing for the moment of inertia

J4

0.02 kgm3

0.02  kgm3

0.082 kgm3

0.082 kgm3

Allowable Torque

J4

8.83Nm

8.83Nm

21.86Nm

21.86Nm

Applicable Environment

Temperature

0°C to 45°C

0°C to 45°C

0°C to 45°C

0°C to 45°C

Humidity

20% to 80%

20% to 80%

20% to 80%

20% to 80%

Other

Avoid contact with flammable, explosive, or corrosive gases and liquids, and keep away from sources of electronic noise (such as plasma).

Teaching device cable length

8m

8m

8m

8m

Body-to-cabinet connection cable length

3m

3m

3m

3m

I/O parameters

Digital inputs: 32-bit (NPN and PNP compatible), 32-bit digital outputs (NPN only)

Digital inputs: 32-bit (NPN and PNP compatible), 32-bit digital outputs (NPN only)

Digital inputs: 32-bit (NPN and PNP compatible), 32-bit digital outputs (NPN only)

Digital inputs: 32-bit (NPN and PNP compatible), 32-bit outputs (NPN only)

Body-prepared signal cable

15-pin (aircraft connector)

15-pin (aircraft connector)

15-pin (airplane plug connection)

15-pin (aircraft connector)

Reserved air circuit

3xφ6

3xφ6

2xφ6 + 1xφ8

2xφ6 + 1xφ8

Power capacity

1.31kVA

1.31kVA

1.71kVA

1.71kVA

Rated power/voltage/current

1.05 kW / Single-phase AC 220 V / 5.7 A

1.05 kW / Single-phase AC 220 V / 5.7 A

1.37 kW / Single-phase AC 220 V / 7.3 A

1.37 kW / Single-phase AC 220 V / 7.3 A

Enclosure/Electrical Cabinet Protection Rating

IP54/IP20

IP54/IP20

IP54/IP20

IP54/IP20

Installation method

Floor and tabletop installation

Floor and tabletop installation

Floor and tabletop installation

Floor and tabletop installation

Body/Electrical Cabinet Weight

32kg/10.65kg

35kg/10.65kg

50kg/10.65kg

53kg/10.65kg