Setup & Operation 2. Specifications
LS20-B Rev.4 21
Max.
motion range
°
°
°
Max.
pulse range
*1: In the case of PTP command.
Maximum operating speed for CP command is 2000 mm/s on horizontal plane.
*2: In the case where the center of gravity is at the center of Joint #4.
If the center of gravity is not at the center of Joint #4, set the parameter using Inertia setting.
*3: The exhaust system in the Cleanroom-model Manipulator draws air from the base interior and arm cover
interior together. A crack or other opening in the base unit can cause loss of negative air pressure in the
outer part of the arm, which can cause increased dust emission.
Cleanliness level : Class ISO 4 (ISO14644-1)
Exhaust System : Exhaust port diameter : Inner diameter: ø12 mm
Exhaust tube : Polyurethane tube
Outer diameter: ø12 mm (Inner diameter: ø8 mm)
Recommended exhaust flow rate : approx. 1000 cm
3
/s (Normal)
*4: Conditions of Manipulator during measurement as follows:
Operating conditions : Under rated load, 4-joints simultaneous motion, maximum speed, maximum
acceleration/deceleration, and duty 50%.
Measurement point : Rear of the Manipulator, 1000 mm apart from the motion range, 50 mm above the
base-installed surface.
*5: In general use, Accel setting 100 is the optimum setting that maintains the balance of acceleration and
vibration when positioning. Although values larger than 100 can be set to Accel, it is recommended to
minimize the use of large values to necessary motions since operating the manipulator continuously with
the large Accel setting may shorten the product life remarkably.
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