Toshiba SR1054HSPCR Manual De Instruções
STE 58792
– 6 –
Section 2
Clean Robot Basic Specifications
2.1
Basic Robot Specifications
Table 2.1 shows the basic specifications of the clean robot.
Table 2.1 Basic robot specifications
Model SR–654HSP–CR
SR–1054HSP–CR
Arm length
Full length
650 mm
1,050 mm
Arm 1
350 mm
580 mm
Arm 2
300 mm
470 mm
Operating range
Axis 1
±115°
±115°
Axis
2
±140°
±145°
Axis 3 (vertical)
185 mm
185 mm
Axis 4 (wrist rotation)
±280°
±360°
Maximum speed
Axis 1
255°/s
170°/s
Axis
2
360°/s
270°/s
Axis 3 (vertical)
800 mm/s
800 mm/s
Axis 4 (wrist rotation)
864°/s
576°/s
Composite
4.77 m/s
5.33 m/s
Load
Mass of workpiece to
be carried
5 kgf (rated)
(Max. 10 kgf)
10 kgf (rated)
(Max. 20 kgf)
Permissible
inertia
moment at the tip
0.0663 kgf·m
2
0.1
kgf·m
2
Repeatability
X, Y (plane)
±0.02 mm
±0.03 mm
Axis 3 (vertical)
±0.01 mm
±0.02 mm
Axis 4 (wrist rotation)
±0.03°
±0.03°
Tool wiring and air piping
12 cables and 2 pipelines
Degree of cleanliness
Designed for cleanliness 10 (¿ Note 1)
Drive system
AC servo motor
Mass of the basic body
65 kgf
95 kgf
Robot controller
SR7000
Note 1: Cleanliness 10:
When this robot is operated in the clean bench (cleanliness 1 or less)
installed in the downflow clean room, the number of fine particles of 0.3
µm or over contained in 1 ft
installed in the downflow clean room, the number of fine particles of 0.3
µm or over contained in 1 ft
3
as measured in the plane of the lower end
position of axis 3 stroke is ten (10) or less.
Air speed of downflow is 0.3 ~ 0.5 m/s.
Air speed of downflow is 0.3 ~ 0.5 m/s.