T6-B Specifications - Epson T-B Series Manual

Appendix A: Specifications

T6-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
156
Arm #1, #2 600 mm
Arm #1 325 mm
Arm #2 275 mm
Approx. 21 kg: 46 lbs.
All joints AC servo motor
Joints #1, #2 4180 mm/s
Joint #3 1000 mm/s
Joint #4 1800 °/s
Joints #1, #2
± 0.04 mm
Joint #3
± 0.02 mm
Joint #4
± 0.02°
Joint #1
± 132°
Joint #2
± 150°
Joint #3 200 mm
Joint #4
± 360°
Joint #1
− 152918 ~ 808278
Joint #2
± 341334
Joint #3
− 245760 ~ 0
Joint #4
± 245760
Joint #1 0.000275°/pulse
Joint #2 0.000439°/pulse
Joint #3 0.000814 mm/pulse
Joint #4 0.001465°/pulse
Joint #1 300 W
Joint #2 200 W
Joint #3 100 W
Joint #4 100 W
Rated 2 kg
Max. 6 kg
Rated 0.01 kg·m
Max. 0.08 kg·m
Shaft diameter ø 20 mm
Through hole ø 14 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
150 × 150 mm
4-M8
Ambient temp.
5 ~ 40 °C *3
Ambient relative
20 ~ 80 % (no condensation)
humidity
L
Aeq
T6-B602S
2
2
= 70 dB (A) or under
2 : 86 psi)
2 : 86 psi)
T-B series Rev.1