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2Robot arm
Standard specifications
2-12
2.1.2 The counter-force applied to the installation surface
The counter-force applied to the installation surface for the strength design of the robot installation surface is
shown.
Table 2-3 ： Value of each counter-force
Note3) The value of the following movement which applied MvTune2 (high-speed movement mode) with the carrying mass of
2kg.
･ The cycle time may increase with the case where the positioning accuracy of the work etc. is necessary, or by the
moving position.
Note4) This is the downwards pressing force that occurs at the end of the load when the maximum load is on board and the
J1, J2 and J4 axis are in their resting state. Please operate at this level or below. When pressing for long periods of
time, an excess load error may occur. Please operate in a manner that does not cause errors.
Note5) The pose repeatability details are given in Page 13, "2.2.1 Pose repeatability".
Note6) Sets the robot's operating environmental temperature as parameter OLTMX. Corresponding to the environment, the con-
tinuous control action performance and the overload-protection function are optimized. (Refers to "Optimizing the over-
load level" described in "Chapter 5 Functions set with parameters" of separate instruction manual/ Detailed
explanations of functions and operations for details.)
Note7) The 8-wire cable designated for LAN wiring can also be used for backup wiring.
Note8) The φ4 secondary piping can be obtained with the electromagnetic valve (option). Details regarding the electromag-
netic valve (optional) are shown on Page 53, "(3) Solenoid valve set".
Note9) The details of the clean specifications are described in Page 20, "2.2.8 Clean specifications". The conditions neces-
sary to guarantee cleanliness are as follows: clean room down flow greater then 0.3 m/s, robot internal suction of 30
to 50 L/min, and installation of an exhaust duct at the rear of the robot’s main base. A φ8 joint has been prepared
at the rear of the base for suction.
The protection specification details are given in Page 20, "2.2.7 Protection specifications".
Item Unit Value
Falls moment: M
L
N ･ m 240
Torsion moment: M
T
N ･ m 255
Horizontal translation force: F
H
N 810
Vertical translation force: F
V
N 380
300
25