Chapter 2 – Description
D28065504A - 02/2007 29
2.5. PERFORMANCE
2.5.1. AMPLITUDE, SPEED AND RESOLUTION
See figure 2.5 Brake release access area
Standard arm
Work envelope
R.M max. reach between axis 1 and 5 450 mm
R.m1 min. reach between axis 1 and 5 151 mm
R.m2 min. reach between axis 2 and 5 162 mm
R.b reach between axis 3 and 5 225 mm
Maximum speed at load center of gravity 8.2 m/s
Repeatability at constant temperature ±0.02mm
Axis 12 3456
(1)Can be configured by
software up to
± 18000
°. See the
"Software
configuration" chapter
in the "Controller"
documentation
(2) Maximum speed for
reduced conditions of
load and inertia.
Amplitude (°) 360 250 276 540 253.5 540
(1)
Working range
distribution (°)
A
± 180
B
± 125
C
± 138
D
± 270
E
+ 133.5
- 120
F
± 270
Nominal speed (°/s) 287 287 430 410 320 700
Maximum speed (°/s)
(2)
370 370 550 900 900 1000
Angular resolution
(°.10
-
3
)
0.057 0.057 0.122 0.114 0.122 0.172
CAUTION:
In some arm configurations, the maximum joint speeds can be reached only if payloads
and inertias are reduced.
1
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