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IRB-H4440
Model：
IRB-H4440
Descriptions：
This small horizontal four axis robot arm IRB-H4440,is able toachieve movements with high degree of freedom with its uniquearm rotation mechanism.Maximizing the effciency of productionin limited space;Maximum payload 4kg.
小型水平式四軸機(jī)械手IRB-H4440，具有獨(dú)特回轉(zhuǎn)手臂機(jī)構(gòu)，可實(shí)現(xiàn)超高自由度的運(yùn)動(dòng)，有限空間內(nèi)生產(chǎn)效率最大化，最大可搬重量4kg。
Main Specifcations 主體規(guī)格
| Items 項(xiàng)目 | Specifications 規(guī)格 | ||
| Type 型式 | Horizontal[水亞式] | ||
| Model 主體型號(hào) | IRB-H4440 | ||
| Axes 軸數(shù) | 4 Axis [4軸] | ||
| Total Arm Length(A1 Arm+A2 Arm) 手臂全長(zhǎng)(A1+A2) | 405mm(A1:175mm+A2:230mm) | ||
| Vertical Stroke 上下行程 | 160mm | ||
| Wrist Rotational Angle 手腕回轉(zhuǎn)角度 | 土360° | ||
| Motion Range and Stroke 動(dòng)作角度及行程 | J1:+100°J2:+130°Z:160mm,T:+360° | ||
| Axis Combination 軸組合 | J1+J2+Z+T | ||
| Max.Payload 最大搬運(yùn)重量 | 4kg | ||
| Max.Composite Speed 最大合成速度 | Arm End 手臂頂 | 6000mm/s | |
| CycleTime(*1) 標(biāo)準(zhǔn)循環(huán)時(shí)間(*1) | Z:1100mm/s，T:2000°/s | ||
| CycleTime(*1) 標(biāo)準(zhǔn)循環(huán)時(shí)間(*1) | 0.48s | ||
| Position Repeatability 重復(fù)定位精度 | J1+12 | +0.02mm | |
| Z | +0.01mm | ||
| +0.01mm | 土0.005° | ||
| Max.Pressing lnput(Downward,for up to 1 sec) 最大壓入力(下方向，1秒鐘以下) | 160N(16kgf) | ||
| Max.Allowable Moment of lnertia 最大允許慣性力矩 | T:0.08kgm2 | ||
| Position Detection Method 位置檢測(cè)方式 | Absolute Encoder[絕對(duì)編碼器] | ||
| Drive Motor/Brake 驅(qū)動(dòng)馬達(dá)/制動(dòng)器 | All-axis AC Servo Motor+Z with Brake [所有軸交流伺服電機(jī)+Z軸帶制動(dòng)器] | ||
| Air Pipe 空氣配管 | 4 Systems(04x4)[4系統(tǒng)(O4x4)] | ||
| Signal Lines 信號(hào)線 | 9(For Proximity Sensor Signals,etc. [9芯(接近傳感器等的信號(hào)用)1 | ||
| Gas Source 氣源 | Common Pressure 常用壓力 | 2.0*105Pa(2.0kgf/cm2)~5.0*105Pa(5.0kgf/cm2) | |
| Max.Allowable Pressure 允許最大壓力 | 7.0*105Pa(7.0kgf/cm2) | ||
| Weight 重量 | ~20kg | ||
Controller Specifications 控制器規(guī)格
| Items 項(xiàng)目 | Specifications 規(guī)格 | ||
| Model 型號(hào) | IRC4B | ||
| Controlled Axes 控制軸數(shù) | 4 Axis [4軸] | ||
| Memory Capacity 存儲(chǔ)容量 | 1Gb | ||
| Teaching System 示教方式 | ManualTeaching[手動(dòng)示教] | ||
| External Signal(l/0) 外部信號(hào)(I/O) | Input 輸入信號(hào) | 17 Available Points [用戶開放17點(diǎn)] | |
| Output 輸出信號(hào) | 23 Available Points+8 System Fixed Points [用戶開放23點(diǎn)+系統(tǒng)固定8點(diǎn)] | ||
| External Communication 外部通訊 | RS-232;RJ45;USB2.0[程序拷貝] | ||
| Self-Diagnosis Function 自診斷功能 | Overload,Abnormal Server/Storagenput Erro [過載、伺服異常、存儲(chǔ)異常、輸入錯(cuò)誤等] | ||
| Timing Function 計(jì)時(shí)功能 | 0.1~999sec | ||
| Error Display 錯(cuò)誤顯示 | Display on Controller[操作控制器上顯示錯(cuò)誤] | ||
| Cable Length(Optional) 電纜線長(zhǎng)(選項(xiàng)) | Main Cable 主體電纜 | Standard:5m[標(biāo)準(zhǔn):5m] | |
| Power Cable 電源電纜 | Standard:5m[標(biāo)準(zhǔn):5m] | ||
| Working Environment 工作環(huán)境 | 0~45°C:<90%RH(No Dew) [溫度0~45°C;濕度90%RH以下(無結(jié)露)] | ||
| Power Supply 電源 | Single Phase[單相AC220+10%V 50/60Hz 15KVA | ||
