Beruflich Dokumente
Kultur Dokumente
Robótica Industrial
Deber #01
ALUMNO:
Jácome Sebastián
NRC: 2750
Marca Comau
Modelo NJ4 210 - 3.1 SH
Number of axes 6
Maximum wrist payload (Kg) 270
Additional load on forearm (Kg) 25
Maximum horizontal reach (mm) 2703
Torque on axis 4 (Nm) 1960
Torque on axis 5 (Nm) 1457
Torque on axis 6 (Nm) 834
Stroke (Speed) on Axis 1 +/- 180° (90°/s)
Stroke (Speed) on Axis 2 -75° / +75° (90°/s)
Stroke (Speed) on Axis 3 -231° / 0° (90°/s)
Stroke (Speed) on Axis 4 +/- 200° (115°/s)
Stroke (Speed) on Axis 5 +/- 200° (125°/s)
Stroke (Speed) on Axis 6 +/- 200° (170°/s)
Repeatability (mm) 0.15
Tool coupling flange ISO 9409 - 1 - A 160 ISO 9409 - 1 - A 200
Robot weight (Kg) 1975
Protection class IP65
Mounting position Floor
Operating Areas A (mm) 3392
Operating Areas B (mm) 2703
Operating Areas C (mm) 2617
Operating Areas D (mm) 804
Operating Areas E (mm) -181*
Robot model Nachi-SC700
Number of axes 6
Drive system AC servo system
Arm J1 Swivel +/-2.79rad
Forward/ +1.48 to -
J2
backward 0.79rad
Upward/ +0.70 to -
J3
Max. operating area downward 1.57rad
+1.57 to -
J4 Rotation2
0.17rad
Wrist
J5 Bending +/-2.18rad
J6 Rotation1 +/-0.17rad
J1 Swivel 0.79rad/s
Forward/
J2 0.52rad/s
Arm backward
Upward/
Max. speed J3 0.52rad/s
downward
J4 Rotation2 0.52rad/s
Wrist J5 Bending 0.87rad/s
J6 Rotation1 0.52rad/s
Payload 700kg
J4 Rotation2 13800N·m
wrist torque J5 Bending 3920N·m
J6 Rotation1 2940N·m
J4 Rotation2 3000kg·m2
wrist moment of inertia J5 Bending 1800kg·m2
J6 Rotation1 1000kg·m2
Position repeat accuracy +/-0.5mm
Ambient temperature 0 to 45°C
Installation parameters Floor mounted