Epson T-B Series - Appendix A: Specifications

Appendix A: Specifications
T-B series Rev.1 153
Appendix A: Specifications
T3-B Specifications
Item
T3-B401S
Arm length
Arm #1, #2
400 mm
Arm #1
225 mm
Arm #2
175 mm
Weight (cables not included)
Approx. 14 kg: 31 lbs.
Driving method
All joints
AC servo motor
Max.
operating speed*1
Joints #1, #2
3700 mm/s
Joint #3
1000 mm/s
Joint #4
2600 °/s
Repeatability
Joints #1, #2
± 0.02 mm
Joint #3
± 0.02 mm
Joint #4
± 0.02°
Max. motion range
Joint #1
± 132°
Joint #2
± 141°
Joint #3
150 mm
Joint #4
± 360°
Max. pulse range
Joint #1
− 95574 ~ 505174
Joint #2
± 320854
Joint #3
− 187734 ~ 0
Joint #4
± 74130
Resolution
Joint #1
0.000439°/pulse
Joint #2
0.000439°/pulse
Joint #3
0.000799 mm/pulse
Joint #4
0.004857°/pulse
Motor rated capacity
Joint #1
200 W
Joint #2
100 W
Joint #3
100 W
Joint #4
100 W
Payload (Load)
Rated
1 kg
Max.
3 kg
Joint #4 allowable
moment of inertia*2
Rated
0.003 kg·m
2
Max.
0.01 kg·m
2
Hand
Shaft diameter
ø 16 mm
Through hole
ø 11 mm
Joint #3 down force
83 N
Hand I/O connector
15 pin: D-sub
Installed pneumatic tube for customer use
2 pneumatic tubes (ø6 mm): 0.59 MPa (6 kgf/cm
2
: 86 psi)
1 pneumatic tubes (ø4 mm): 0.59 MPa (6 kgf/cm
2
: 86 psi)
Mounting hole
120 × 120 mm
4-M8
Environmental
requirements
Ambient temp.
5 to 40 °C *3
Ambient relative
humidity
20 to 80% (no condensation)
Noise level *4
L
Aeq
= 70 dB (A) or under