PreCise PF400 - Collision Force Table for PF3400; PAC Files Preciseflex 3400 S

PreciseFlex_Robot
28
Collision Force Table for PF3400
PACFilesPreciseFlex3400S
170713
J1 J2 J3 J4 J5 Rai l XYZ
4000 12000 14000 9000 0 NA
‐2600 ‐12000 ‐14000 ‐9000 0 0
7077 27702 24279 14837 6356 22933
37% 43% 58% 61% 100% 100%
50 ‐52 113 ‐61 102 ‐230
44 ‐166‐334 102 NA
500mm/s 90deg/s 720deg/s 720deg/s 400mm/s 750mm/s
1800 1100 1200 4000 10000 1000
500
2000
Speed 100% 40%
Xcart Ycart ‐Z1kg Xcart Ycart ‐Z1.0kg Xcart Ycart J2rot ‐Z1.0kg ‐Z1.0kg
100% 20 30 95 85 85 100 105 138 223 234 164
80% 21 29 90 64 82 100 89 114 149 195 139
60% 20 24 88 50 51 100 72 94 116 155 118
40%1921813428965070 87121104
20%1720751824852341 47105 92
5% 16 12 72 18 23 93 16 22 19 80 77
Zdeceleration%
ManualControl FreeSpa ceCol lision RigidSurfaceCollision
ConfigforJ2Rotation(maxvel ocity)
100%JointSpeed
100%
JointAccel
100%XYZSpeed
100%XYZAccel
PF400CollisionsatGripper,50 mmprogrammedinterference
StandardConfigforcrashtests
Configurat ion
10351
10352
Peakcurrent,tcnts
PIDError(10352)%ofpeak