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Setup & Operation 2. Specifications
2.4 Specifications
Item
Arm length
Weight (not include the weight of cables)
Driving method
Max. operating speed *1
Repeatability
Max. motion range *2
Max. pulse range
Resolution
Motor power consumption
Payload
Joint #4 allowable moment of
inertia *3
Shaft diameter
through hole
Joint #3 down force
Installed wire for customer use
Installed pneumatic tube for customer use
Environmental
Ambient Temperature
requirements
Ambient relative humidity
Equivalent continuous A-weighted sound pressure
level *4
Applicable Controller
Default values
Cleanliness level
Cleanroom-model
Exhaust
System *5 Recommended
Safety standard
20
Arm #1, #2
All joints
Joint #1, #2
Joint #3
Joint #4
Joint #1, #2
Joint #3
Joint #4
Joint #1
Joint #2
Joint #3
Joint #4
Joint #1
Joint #2
Joint #3
Joint #4
Joint #1
Joint #2
Joint #3
Joint #4
Joint #1
Joint #2
Joint #3
Joint #4
Rated
max.
Rated
max.
SPEED
ACCEL
SPEEDS
ACCELS
FINE
WEIGHT
(In 28317cm
Exhaust tube
exhaust flow rate
ANSI/RIA R15.06 conformance
CE conformance: All models
UL1740 conformance: E2C**1S-UL, E2C**1C-UL, E2C351SM-UL, E2C351CM-UL
E2C251*
125 mm / 125 mm
E2C**1S, C: 14 kg : 31lb. / E2C351SM, CM: 16 kg : 36lb.
AC servo motor
2900 mm/s
1100 mm/s
2600 degrees/s
± 0.008 mm
± 0.010 mm
± 0.02 degrees
± 90 degrees
± 135 degrees
E2C**1S, SM 120 mm / E2C**1C, CM: 100 mm
± 360 degrees
0 to +163840
± 76800
E2C**1S, SM: -36864 to 0 / E2C**1C, CM: -30720 to 0
± 46695
0.0010986 degrees/pulse
0.0017578 degrees/pulse
0.0032552 mm/pulse
0.0077097 degrees/pulse
150 W
150 W
150 W
150 W
1 kg
3 kg
0.005 kg⋅m
0.050 kg⋅m
ø16 (h7)mm
ø11 mm
150 N
15 wires (15 -pin D-sub connector)
2 pneumatic tubes (ø6 mm), 1 pneumatic tube (ø4 mm)
Allowable pressure: 0.59 MPa (6 kgf/cm
5 to 40°C
(with minimum temperature variation)
10 to 80%
(no condensation)
L
= 66.3 dB (A) or under
Aeq
RC520
RC420
RC170
5
10,10
50
200
10,10,10,10
1,125
Clean Class: 10 or its equivalent
Amount of Dust: 10 particles or less (0.13µm diameter or larger)
3
(1cft) sample-air around the center of the motion range)
Polyurethane tube
Outer diameter: ø8 mm
Approximately 1000 cm
(No compliance by RC170 adoption)
E2C351*
225 mm / 125 mm
3600 mm/s
± 0.010 mm
± 110 degrees
± 145 degrees
-18205 to +182045
± 82489
2
2
2
: 86psi)
3
/s (Normal)
E2C Rev.6
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