User guide

61
7. Speci¿ cations
IX-TNN3515 (Arm Length 350, Wall-mounting)
IX-UNN3515 (Arm Length 350, Inverse)
Item Specifications
Type IX-TNN3515-**L-T1/ IX-UNN3515-**L-T1
Degree of freedom Four degrees of freedom
Overall arm length 300
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)
r120
Axis 2 (arm 2)
degree
r135
Axis 3 (vertical axis) (*1) mm 150
Movement
range
Axis 4 (rotational axis) degree
r360
Axis 1 + Axis 2 (maximum
composite speed)
3979
Axis 3 (vertical axis)
mm/sec
1106
Maximum
operating
speed (*2)
Axis 4 (rotational axis)
degree/s
ec
1600
Axis 1 + Axis 2
r0.010
Axis 3 (vertical axis)
mm
r0.010
Positioning
repeatability
(*3)
Axis 4 (rotational axis) degree
r0.005
Cycle time (*4)
sec 0.53/2 kg
Rated 1
Load capacity
Maximum
kg
3
Dynamic (*5) 90.9 (9.3)
Push-in thrust
of axis 3
(vertical axis)
Static (*6)
N (kgf)
65.3 (6.7)
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)
Tool allowable diameter (Note 6) 40
Origin detection Absolute
User wiring
D-sub 15-pin connector with 15-core AWG26 shielded
cable (socket)
Alarm indicator (*8) One small, red LED indicator (rated voltage: 24 V)
User piping
Three air tubes (outer diameter: 4, inner diameter: 2.5)
(normal service pressure: 0.8 MPa)