Manual

54
7. Specifi cations
IX-NNN70 (Arm Length 700, Standard Specification)
Item Specifications
Type IX-NNN70-L-T1
Degree of freedom Four degrees of freedom
Overall arm length 700
Arm 1 length 350
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 + Speed reducer +
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)
r125
Axis 2 (arm 2)
degree
r145
Axis 3 (vertical axis) (*1) mm 200 (Optional: 400)
Movement
range
Axis 4 (rotational axis) degree
r360
Axis 1 + Axis 2 (maximum
composite speed)
6597
Axis 3 (vertical axis)
mm/sec
1583
Maximum
operating
speed (*2)
Axis 4 (rotational axis) degree/sec 1200
Axis 1 + Axis 2
r0.015
Axis 3 (vertical axis)
mm
r0.010
Positioning
repeatability
accuracy (*3)
Axis 4 (rotational axis) degree
r0.005
Standard cycle time (*4) sec 0.50
Rated 5 Load
capacity
Maximum
kg
20
Dynamic (*8) 265 (27.0) Push-in
thrust of axis
3 (vertical
axis)
Static (*9)
N (kgf)
188 (19.1)
Permissible moment of
inertia (*5)
kgm
2
0.1
Permissible
load on axis 4
Permissible torque
Nm (kgfcm)
6.7 (68.3)
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)