Appendix A: Specifications T3-B Specifications - Epson T-B Series Manual

Appendix A: Specifications
T3-B Specifications
Item
Arm length
Weight (cables not included)
Driving method
Max.
operating speed*1
Repeatability
Max. motion range
Max. pulse range
Resolution
Motor rated capacity
Payload (Load)
Joint #4 allowable
moment of inertia*2
Hand
Joint #3 down force
Hand I/O connector
Installed pneumatic tube for customer use
Mounting hole
Environmental
requirements
Noise level *4
T-B series Rev.1
Arm #1, #2 400 mm
Arm #1 225 mm
Arm #2 175 mm
Approx. 14 kg: 31 lbs.
All joints AC servo motor
Joints #1, #2 3700 mm/s
Joint #3 1000 mm/s
Joint #4 2600 °/s
Joints #1, #2
± 0.02 mm
Joint #3
± 0.02 mm
Joint #4
± 0.02°
Joint #1
± 132°
Joint #2
± 141°
Joint #3 150 mm
Joint #4
± 360°
Joint #1
− 95574 ~ 505174
Joint #2
± 320854
Joint #3
− 187734 ~ 0
Joint #4
± 74130
Joint #1 0.000439°/pulse
Joint #2 0.000439°/pulse
Joint #3 0.000799 mm/pulse
Joint #4 0.004857°/pulse
Joint #1 200 W
Joint #2 100 W
Joint #3 100 W
Joint #4 100 W
Rated 1 kg
Max. 3 kg
Rated 0.003 kg·m
Max. 0.01 kg·m
Shaft diameter ø 16 mm
Through hole ø 11 mm
83 N
15 pin: D-sub
2 pneumatic tubes (ø6 mm): 0.59 MPa (6 kgf/cm
1 pneumatic tubes (ø4 mm): 0.59 MPa (6 kgf/cm
120 × 120 mm
4-M8
Ambient temp. 5 to 40 °C *3
Ambient relative 20 to 80% (no condensation)
humidity
L
Aeq
T3-B401S
2
2
= 70 dB (A) or under
Appendix A: Specifications
2 : 86 psi)
2 : 86 psi)
153