| Arm length |
First arm |
200mm |
| Second arm |
180mm |
| Operating range |
First arm |
180° |
| Second arm |
240° |
| Z axis |
70mm |
| Wrist |
240° |
| Maximum speed |
Arm |
2.3m/sec(composition) |
| Z |
260mm/sec |
| Wrist |
1200°/sec |
| Position repeatability |
±0.05mm |
| Number of controlled axis |
5 axes simultaneously (X, Y, Z, Wrist and solder feeder) |
| Control system |
PTP, linear interpolation (absolute coordinate, relative coordinate) |
| Speed settings |
PTP 30 step/Linear interpolation(abs,coordinate,rel coordinate) |
| No of data storage |
500 steps (approx.150 soldering points x14 programs) |
| Outer data stroage system |
Host computer FD (RS-232C) |
| Program input (display method) |
Teaching box
Host computer |
| Programming(Indication method) |
Outer input
Teaching box
Host computer |
| Operation mode |
GO HOME、AUTO、JOG、JOG STEP、TEACH |
| General-purpose input |
8 points (additional 8 points as option/pugradable) |
| General-purpose output |
8 points (NO, NC x 4 points + NO x 4 points)
(4 points out of 8 can be changed to control input.)
(Option + 8 points) |
| Control input |
START, STOP, AUTO, JOG, JOG STEP, HOME, Program No. specification, Program No. Input |
| Control output |
AUTO, BUSY, HOME, TEMP RADY, Limit Error, Soldering Error, Solder Feeding |
| Data storage |
Battery back-up |
| Driving mothod |
6-axis stepping motor |
| Weight |
Robot main unit |
39kg
|
| Controller |
8kg |
| Power |
100V 50Hz/60Hz
|
| Air supply |
4kg/cm².G |
| Solder feed amount |
0 ～ 99.9 mm (0.1 mm step) |
| Solder feed speed |
1 mm/sec ～ 90 mm/sec (25 steps, 2 motion) |
| Solder feed repeatability |
±3％
|
| Temperature settings |
150℃ ～ 450℃ (±5% automatic, 1℃ step) |
| Solder diameter |
0.3 mm ～ 1.6 mm |
| Heater capacity |
130W (Ceramic heater) |
| Iron tip cleaning |
Air blow |
