3. BASIC SPECIFICATIONS Be3034ENOT ‘Specifications (1/2) Tose "ARC Mate 12010207, MOONDOT Type. ‘Ariculated type ‘Confoled axes, Bares W213, J4, I) Tnstalaion| Upside-down, Wall mount Load seting| Sho (Gland welding torch) mode | 20 ka (igh meta) mode Tans (Nate ty ans IS Goma) |-150" (2 Gorea dans 3035 (6.34rad) 1-223" (3.60red) Sans 200% 3 48rad) /-200> 3 49red) Note 140" (244rad) /=140" (2-44red) Note 3) 180" G.14rad)_ 180" -3.14r20) Note 2) BIO® (4-TAtad) f-270° (4. Tred) Note 3) “450° (7 Sivad) {450° (7 Bead) Tans. Note 1 Dans 7s ( O5radls) Sans 100"'s (3.14raa/5) ads 60% (6-20rad) Bans 300" (6 26red') Jeans 550% 60red5) ‘At waist 3g 20k ‘Oo. arm (Noe i Jeans Tim O7aKgm aN Skagen) SK TIN (0-Tokaf m) 44Nm_ (4 Skat m) Jeans D.2INm_(0.022kaf 22Nm (2 2kafm) sans 0244a mF Seats’) ‘Loakg n? 11 Okat os aK 024k. (25katoms!) “oska ri (11 Okafems!) ans ‘Coca mn 0.028KgH em =) ‘0.28? (2 9kgfems*) Dive mation. Electric servo ove By AC se1v0 motor Ropoatability =£0.08mm (Noto 6) Mase "185ka (Note 7 Teoushe nos Tavel Toss than 708 (Noto 8) “Ambient temperature: O1045°C (Note 9) ‘Ambient humidty: Normally 7S%RH or loss (No dow or Wost alowed) ‘Short timo 9594RH orloss (Within 1 month) Permissible atte: Above the sea 1000m oF ess ‘Vevation aecalaalion° 4.2" (0.56) or lass Fie of corrosive gasos (Noto 10) Installation environment NOTE 10 Drive motor ai&1214000 for J1 axis is attached. (Refer to Table 34 (a) J-axis motor eable length from the J2 base is about tm. ‘The specication of "Cable intogratod Ja Arn’ ‘The specticaion of "Convontional dross-out [During shor distance motions, th axis speed may not reach the maximum value statod, ‘Maxamum load on J3 arm doponds onload of wrist. Soo socton 4.2 dota Repeatability of the arm unit (J2t00-axes) ‘The mass exclude the J7-axis motor and ganty traveling Section, Refer to specication manual of AC servo motor about as motor. The acoustic noise exclude tho sound gonorated from the J1 as. When robot is used This value s equivalent continuous &-weighted sound pressure level, which appled wit ISO11201 (EN21201) This value is measured with the flloning conaitons, ‘Maximum load and speed (Operating modo is AUTO \When tho robot is usod in alow tomporature onvronmont that is near to O*C, or not operated for along tn in tho fevronment that is lass han °C (uring a holiday or curing the night), a calision detection alarm (SRVO-050) ete. may ‘occur since the resistance of the dive mechanism could be high immediately ater stating the operation. In his case, we Tecommend performing the warm up operation for sovora minutos. Contact your local FANUC representative, the robo sto be used in an environment or a place subjected 10 naveald 2.BR30SENOT, 3. BASIC SPECIFICATIONS. ‘Specifications (2/2) Model T20cA2OMT Type Controlled axes Cras (J1, 12, 9, J4, J5, 36) Installation Upside-down, Wall mount Load setting 20kg mode I 35kg mode. axis (Note 1) axis 160° (2.79rad) -100" (4.76red) sexs 275.6" (4.Btred) (185° (-3.25red) axis 200 (3.49rad) 1-200" (-3.48rad) uaxis 140" (2dérad) /-140" (-2.44rad) Jeans 450" (7.85rad) (450° (-7.85red) Stans (Note 1 Z-avis TTS Is (3 05reds) 7801s @.14reds) axis 480"/s (3.14red5 200" (3.48rad/s) ais 405%/5 (7 O7redis) 3507s (6.1 tradi) wean 405%/s (7.07red/s) 350"/s (6.1 trad’) avis 615%/5(10.7312d/5) 400"/5 (6.98radls) At wrist 20kg 35kg On 13 are (Note 3) 12kg avis 25 iNmfkgemn) A Sig) THO.ONmkgEm)_(H1DkgF my S-anis -45.1Nm(kgfm) (4.6kgfm) “110.0Nm(kgfm)_(11.2kgfm) axis 30, ONmikgf m) (3.Tham) 0.0Nmikgim)_(6.12kgfm) Taxis 2.0tkg mr: (20.42 kafem =) 4.00kg.m? (40.82 kgfoms) JS-axis 2.0 tkg.m’ (20.42 kafems") 4.00kg.m” (40.82 kaf ems") weenie LO tg "(10.28 kghems?) 15Okyin? (15.31 kylvams Repeatabiity 0,06mm (Note 4) Robot mass kg (Note 5) Trig (Note 5) ‘Acoustic noise level Tess than 708 (Note 6 ‘Ambient temperature: 0 to 45°C (Note 7) ‘Ambient humidity: Normally 75% RH or less (No dew or frost allowed) ‘Short time 95% Rhor less (Within 1 month) Permissible attude: Above the sea 1000m orless Vibration acceleration: 4.8mis? (0.66) or less Free of corosive gases (hots 8 Installation environment NOTE Drive motor ai12/4000 for J1 axis is attached. (Refer to Table 3.1 (a)).J1-axis motor cable length from the J2 base is about 1m. During short distance motions, the axis speed may not reach the maximum value stated. ‘Maximum load on 3 arm depends on load of wrist. See Section 4.2 in detail Repeatability of the arm unit (J2 to J6-axes). ‘The mass exclude the J1 motor and gantry traveling section. Refer to specification manual of AC servo motor about J1-axis moter. This value is equivalent continuous A-weighted sound pressure level, which applied with IS011201 (EN31201), This value is measured with the following conditions. = Maximum load and speed = Operating mode is AUTO When the robot is used in alow temperature environment that is near to 0°C, or not operated for a long time inthe environment that is less than 0°C (during @ holiday or during the night), a collision detection alarm (SRVO-050) etc. may occur since the resistance cf the drive mechanism could be high immediately after starting the operation. In this case, we recommend performing the warm up operation for several minutes. Contact the service representative, ifthe robot ist» be used in an environment or a place subjected to hot/cold temperatures, severe vibrations, heavy dust, cutting ol splash and or other foreign substances. -B-