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 Main body
specifications
| Items |
Specifications |
Remarks |
| Arm system |
Vertical multi-joint |
|
| Degree of freedom |
6 axes |
|
| Wrist type |
RBR type |
|
| Working range |
No.1 axis
(floor and ceiling mount) |
±160° |
|
| No.1 axis (wall mount) |
±60° |
Orthogonal operation range restriction of transverse ±750mm |
| No.2 axis |
+80 -45° |
|
| No.3 axis |
+60-60° |
|
| No.4 axis |
±270° |
|
| No.5 axis |
±150° |
|
| No.6 axis |
±350° |
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| Position repeatability precision |
±0.2mm |
|
| Maximum load capactity |
3kg |
|
| Tolerable load moment |
No.4 axis |
5.15 N·m |
|
| No.5 axis |
5.15 N·m |
|
| No.6 axis |
2.94 N·m |
|
| Distance from rotation center to gravity center at
max. load |
No.4 axis |
175mm |
|
| No.5 axis |
175mm |
Joint |
| No.6 axis |
100mm |
|
| Maximum linear interpolation speed |
1,000mm/s (coating speed) |
Max. 2400mm/s (at joint movements) |
| Type of explosion-proof |
Pressurized+Intrinsic safety |
|
| Installation site |
Temperature |
040°C |
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| Humidity |
2080%RH |
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| Installation method |
Floor stand, ceiling and wall mount |
|
| Main body mass |
90kg |
|
Control unit specifications (hardware)
| Items |
Specifications |
Remarks |
| Number of control axes |
Main body servo axis |
6 axes |
|
| External servo axis |
Max. 4 axes (option) |
|
| ON/OFF axis |
Max. 4 axes |
General I/O assignment |
| Operation unit |
PC (prepared by customer) |
PC tool software (CD-ROM) provided as standard |
| Pendant (option) |
|
| Memory |
Capacity |
4M byte (standard) |
|
| External storage |
PC |
with LAN connection |
| Input/Output |
External operation signal |
5ch (emergency stop, safety stop, origin-point, external start, external
stop) |
|
| General input/output |
16/16ch (standard)
32/32ch(option) |
Assignable with exclusive input/output |
| Network communication |
LAN (standard) |
|
| Air panel |
Explosion-proof circuit (standard) |
|
| Painting control circuit (option) |
Manual/electro-pneumatic valve selection, desired combination possible |
| Color changer (option) |
Explosion-proof type 5 color CCV unit |
Installed on the main body side |
| Gun operation valve on the main body side (option) |
Installed in pressurized anti-explosion room |
Installed on the main body side |
| Grounding |
D class grounding |
|
| Safery function |
Safety double circuit |
|
| ANSI safety standard compliance |
3-position enable switch, high-speed APV, etc. |
| Control unit weight |
110kg |
Standard type |
| Outside size (mm) |
W700 x D450 x H1,200 |
|
| Cable length |
Pendant |
7m (Max. 22m) |
|
| RobotControl
unit |
7m (Max. 20m) |
|
| Utilities |
Electric source |
AC200/220V±10% 3-phase 50/60Hz 4.0KVA |
|
| Air supply (When scavenged for explosion-proof) |
500NL/min at 0.5MPa |
|
Control unit specifications
(Software)
| Items |
Specifications |
Remarks |
| Control system |
Main body |
PTP position control
(Line, joint, circular) |
|
| Table (option) |
Follow-up positioning, synchronous positioning, continuous rotation
speed control |
Mixible in the same program |
| Axes operation |
Operation method |
Graphic remote operation (PC operation)
Pendant remote operation (option) |
|
| Coordinate system |
Base, joint, path (2 kinds), tool, work, custom |
|
| Program edit |
Program specifications |
Step data system |
|
|
Guns shift, gun-tip distance change,Calibration, rotation conversion,
mirror conversion, data shift |
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| Simplified teaching |
4-point teaching reciprocation/crank pattern
(Numerical input/position teaching) |
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| Playback function |
Speed adjustment |
Speed magnification, every step, table continuous rotation speed |
|
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Smooth path, overspray path, gun swing path |
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| Maintenance function |
Error log, operation log, execution number, energization/operation time,
cycle time |
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| Coating control (option) |
Coating data bank |
Paint output, atomized air, pattern air control |
(Air panel option, 99 conditions) |
|
2-gun control, cap washing function,
cap washing function,
paint circulation function |
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| Conveyor synchronization (option) |
Stop teaching, travel playback
(Applicable for linear, circular conveyor) |
|
| Indication language |
3 languages available: Japanese, English and Chinese |
Necessary to change the pendant key sheet |
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| Inquiries related to industrial coating |
Industrial Coating Group
Coating Equipment & Systems Dept.
Anest Iwata Cooperation
e-mail: icg@anest-iwata.co.jp
TEL: 045-591-1114 FAX: 045-591-1127 |
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