EQUIPMENT OPERATION MANUAL Loctite S440 Series SCARA Robots

More documents

Recommendations

Info

13. SPECIFICATIONS<strong>S440</strong> <strong>Series</strong>Model Number S444 S443 S442Axes (Simultaneous Control) 4 3 2Arm length J1 arm260 mmJ2 arm180 mmJ1 + J2440 mmRange of J1 arm± 90 degoperation J2 arm± 150 degZ axis100 mmR axis ± 360 deg ----------- -----------Maximum portable weight5 kgMaximum R axis inertia 90 kg·cm 2 ----------- -----------Maximum speed J1, J2combination1500 mm/sec (1 kgf load)1400 mm/sec (3 kgf load)1300 mm/sec (5 kgf load)Z axis 320 mm/sec 320 mm/sec -----------R axis 1000 deg/sec ----------- -----------Repeatability X, Y ± 0.02 mm below ± 0.02 mm below ± 0.02 mm belowaccuracy Z ± 0.01 mm below ± 0.01 mm below -----------R ± 0.02 deg below ----------- -----------Drive method5-phase stepping motor (positioning watch by encoder)Control methodPoint to point (PTP) controlContinuous path (CP) controlInterpolate function3 dimension line interpolate3 dimension arc interpolateTeaching methodDirect teaching, remote teaching, MDI teachingProgram system100 programsData memory capacity6,000 points maximumInterface for interlockFor input signals from interlock equipmentExternal interfaceRS232C 3 channelsFor PC, external equipment and teaching pendantExternal input/output25 points for input, 24 points for output (standard)32 points for input, 32 points for output (option)PLC function50 programs, 100 steps for each programCPU 32 bit (MC68EC020, MC68882)Power sourceAC90-132 V / AC 180-250 V (Single phase)Consumption current200 VAWorking ambient temperature 0-40ºCRelative humidity20-95%, no condensationWeight41 kgWiring and piping to tool 15 wires for signals, 4 air pipes (φ4 mmx2, Rc1/8 x2)Noise70 dB or lessSpecifications13-1
P/N 987509
Page 1 and 2: EQUIPMENT OPERATION MANUALLoctite S
Page 3 and 4: FOR SAFE USEcontinued from the prev
Page 5 and 6: FOR SAFE USEcontinued from the prev
Page 7 and 8: CONTENTS SPECIFICATIONSFor Safe Use
Page 9 and 10: 1. EXTERNAL DIMENSIONS S444Mounting
Page 11 and 12: S443Standard ToolPositionMounting h
Page 13 and 14: 2. MOVE RANGE S444In CP movement or
Page 15 and 16: 3. WIRING AND PIPINGLocking air nip
Page 17 and 18: I/O-2 System OperationInputA17: Bus
Page 19 and 20: I/O-1 Circuit Wiring A1 to A14 an
Page 21 and 22: Switching I/O Power SupplyThe power
Page 23 and 24: 6.TIMING CHART6.1 No Busy Signal (S
Page 25 and 26: 6.3 Dispenser With Finish Signal (T
Page 27 and 28: 6.5 External I/O Timing Chart 2 (Pr
Page 29 and 30: 6.7 External I/O Timing Chart 4 (Em
Page 31 and 32: 6.9 External I/O Timing Chart 6 (Pr
Page 33 and 34: OutputPinFunction1 DC24V2 DC24V8 Di
Page 35 and 36: 8. SAFETY EQUIPMENT When interlock
Page 37 and 38: System ErrorMessageRemedy028 EEPROM
Page 39 and 40: Message125 Trap ErrorLevel 1 Interr
Page 41 and 42: CommandCategoryOtherCommand Name Pa
Page 43 and 44: SequencerCommandCategoryConditionCo
Page 45: OPERATION PROCESS Power ONMotor Pow

EQUIPMENT OPERATION MANUAL Loctite S440 Series SCARA Robots

Create successful ePaper yourself

Delete template?

Save as template?