CX4 Specifications
| Item | Specifications | ||
|---|---|---|---|
| CX4-A601*** | |||
| Machinery name | Industrial robot | ||
| Product series | CX-A | ||
| Model | CX4-A601\ *** | ||
| Model Name | CX4 | ||
| Mounting type * 1 | Table top mounting, Ceiling mounting, Wall mounting | ||
| Arm length | P point: J1 to J5 center | 601.6 mm | |
| Maximum reach | J1 to J6 flange | 674.1 mm | |
| Manipulator weight (not include the weight of cables or shipping jigs) | Standard (- NIW), cleanroom (- NIW) specifications: 30 kg: 66.1 lb Standard, cleanroom specification, Protected (- NIW) Model: 31kg: 68.3 lb Protected-Model: 32 kg: 70.5 lb | ||
| Drive system | All joints | AC servo motor | |
| Maximum operating speed * 2 | Joint #1 | 450°/s | |
| Joint #2 | 450°/s | ||
| Joint #3 | 514°/s | ||
| Joint #4 | 558°/s | ||
| Joint #5 | 570°/s | ||
| Joint #6 | 851°/s | ||
| Maximum synthetic speed | 10206 mm/s | ||
| Repeatability *3 | Joint #1 to #6 | ±0.01 mm | |
| Maximum motion range | Joint #1 | ±180° | |
| Joint #2 | -155～ +67° | ||
| Joint #3 | -63～+193° | ||
| Joint #4 | ±270° | ||
| Joint #5 | ±135° | ||
| Joint #6 | ±540° *4 | ||
| Max. pulse range (pulse) | Joint #1 | ±5029027 | |
| Joint #2 | -4432617 to +1916035 | ||
| Joint #3 | -1520140 to +4656929 | ||
| Joint #4 | ±6332848 | ||
| Joint #5 | ±3104337 | ||
| Joint #6 | ±8311862 | ||
| Resolution | Joint #1 | 0.0000358°/pulse | |
| Joint #2 | 0.0000350°/pulse | ||
| Joint #3 | 0.0000414°/pulse | ||
| Joint #4 | 0.0000426°/pulse | ||
| Joint #5 | 0.0000435°/pulse | ||
| Joint #6 | 0.0000650°/pulse | ||
| Motor rated capacity | Joint #1 | 400 W | |
| Joint #2 | 400 W | ||
| Joint #3 | 400 W | ||
| Joint #4 | 100 W | ||
| Joint #5 | 50 W | ||
| Joint #6 | 50 W | ||
| Payload (load) * 5 | Rated | 1 kg | |
| Maximum | 4 kg (5 kg with arm downward positioning) | ||
| Allowable moment | Joint #4 | 8.86 N·m (0.90 kgf·m) | |
| Joint #5 | 8.86 N·m (0.90 kgf·m) | ||
| Joint #6 | 4.90 N·m (0.50 kgf·m) | ||
| Allowable moment of inertia *6 (GD2/4) | Joint #4 | 0.20 kg·m2 | |
| Joint #5 | 0.20 kg·m2 | ||
| Joint #6 | 0.10 kg·m2 | ||
| User wires (Excluding NIW specifications) | 9 wires (D-sub) 8Pin (RJ45) equivalent to Cat.5e | ||
| User wires * 7 | ⌀4 mm pneumatic tube 4 Pressure resistance: 0.59 MPa (6 kgf/cm2) (86 psi) | ||
| Environmental requirements * 8 | Ambient temperature | 5～40°C *9 | |
| Ambient relative humidity | 10 to 80% RH (no condensation) | ||
| Vibration | 4.9 m/s2 (0.5 G) or less | ||
| Transportation and storage | Temperature | −20～+60°C | |
| Humidity | 10 to 90% (no condensation) | ||
| Noise level * 10 | LAeq = 73.4 dB or lower | ||
| Environmental Specifications | Standard *11 Cleanroom & ESD (anti-static) * 11 Protection (IP67) *12 | ||
| Compatible Controller | RC800-A | ||
| M/C cable | Cable weight (cable only) | For fixing and signal (common to all lengths) | 0.06 kg/m |
| For fixing and power (common to all lengths) | 0.45 kg/m | ||
| For movable and signal (common to all lengths) | 0.07 kg/m | ||
| For movable and power (common to all lengths) | 0.52 kg/m | ||
| Cable outer diameter | For fixing and signal (common to all lengths) | ⌀6.2 mm (typ) | |
| For fixing and power (common to all lengths) | ⌀17.8 mm (typ) | ||
| For movable and signal (common to all lengths) | ⌀6.4 mm (typ) | ||
| For movable and power (common to all lengths) | ⌀17.8 mm (typ) | ||
| Minimum bending radius * 13 | For fixing and signal (common to all lengths) | 38 mm | |
| For fixing and power (common to all lengths) | 107 mm | ||
| For movable and signal (common to all lengths) | 100 mm | ||
| For movable and power (common to all lengths) | 100 mm | ||
| Operation mode *14 | Operation mode (default), boost mode | ||
| Default value Inside ( ) is the maximum setting value | Speed | 5 (100) | |
| Accel *15 | 5, 5 (100, 100) | ||
| SpeedS | 50 (2000) | ||
| AccelS | 200 (25000) | ||
| Fine | 10000, 10000, 10000, 10000, 10000, 10000 (65535, 65535, 65535, 65535, 65535, 65535) | ||
| Weight | 1 (5) | ||
| Inertia | 0.005 (0.1) | ||
*1: Manipulators are set to "Table Top mounting" or “Wall mounting” at shipment. To use the Manipulators as "Ceiling mounting”, you need to change the model settings.
- Changing the Robot
- "Epson RC+ User's Guide - Robot Configuration"
*2: When PTP statements are used
*3: The value described below are ones that were obtained through individual test conditions. Therefore, it is likely to change depending on the usage environment and conditions.
*4: Always contact the supplier if you wish to set it to a higher range than the one previously mentioned.
*5: If the payload exceeds the maximum payload, refer to the following section.
"WEIGHT Setting - Restrictions on payload exceeding the maximum payload"
*6: If the center of gravity is at the center of each arm.
If the center of gravity is not at the center of each arm, set the eccentricity using INERTIA command.
*7: For details of the installed pneumatic tube for customer use, refer to the following section.
User Wires and Pneumatic Tubes
*8: For details of the environmental requirements, refer to the following section.
Environment
*9: When used in a low-temperature environment near the minimum temperature specified in the product specifications, or when the unit is idle for a long period of time during holidays or at night, a collision detection error or similar error may occur immediately after the start of operation due to high resistance in the drive unit. In such cases, warm-up operation for about 10 minutes is recommended.
*10: The conditions at measurement are as follows.
- Operating conditions: Under rated load, all arms simultaneous motion, maximum speed, and maximum acceleration/deceleration which duty is 100%.
- Measurement point: 1000 mm apart from the rear of Manipulator
*11: Manipulators with cleanroom specifications discharge the exhaust inside of the base and inside of the arm cover section together. Consequently, if there is a gap in the base section, the arm tip section will not be sufficiently negatively pressurized, which may result in dust generation.
Cleanliness: Class ISO 3 (ISO 14644-1)
Exhaust port: Fitting for ⌀12 mm tube 60 L/min vacuum
Exhaust tube: Polyurethane tube Outer diameter: ⌀12 mm
Cleanroom specification uses resin materials with anti-static treatment. This model controls adhesion of dust due to electrification.
Protection level for the standard model and cleanroom model Manipulators is equivalent to IP20.
The IP (International Protection) rating is an international standard indicating the degree of protection against dust and water.
| Protection Class | ||
|---|---|---|
| IP20 | Dust protection level: 2 | A solid object which is 12.5 mm or longer cannot touch dangerous areas inside of the Manipulator. |
| Water protection level: 0 | Not protected. | |
*12: Protection level for the protected-model Manipulators is IP67 (IEC standard). The Manipulators can be used in environments where the possibility of dust, water, and water-soluble cutting oil falling of the Manipulator exists. Note the following points.
- The Manipulator is not rust-proofed. Do not use the Manipulator in environment where corrosive liquids exist.
- Fluids that deteriorate the sealing materials, such as organic solvents, acids, alkalis, and chlorine cutting fluids, cannot be used.
- The Manipulator cannot be used for underwater operations.
- The Controller does not have protection features against the environment (Controller’s protection level: IP20). Make sure to install the system where environmental requirements for the Controller are satisfied.
- Be sure to connect a connector compliant with protection class IP67 or higher and a connector cover to the Ethernet cable connector.
The IP (International Protection) rating is an international standard indicating the degree of protection against dust and water.
| Protection Class | ||
|---|---|---|
| IP67 | Dust protection level: 6 | A testing rod which is 1.0 mm or longer cannot touch dangerous areas inside of the Manipulator. Totally protected against dust. |
| Water protection level: 7 | Water cannot enter the Manipulator when the Manipulator is immersed in water for 30 minutes under the condition that the highest point of the Manipulator is located 0.15 m below the surface of the water and the lowest point is located 1 m below the surface of the water. (The Manipulator is stopped during the test.) | |
*13: Note the following points when wiring the movable M/C cable.
Install the cable not to apply a load to the connector.
Bend the cable at the minimum bending radius of the movable part or more. The bending radius (a) and dimensions are shown in the figure below.
*14: The operation mode can be switched with the PerformMode command. For details, refer to the following manual.
"Epson RC+ SPEL+ Language Reference"
KEY POINTS
Compared to the standard mode, the operation time will be shorter for the boost mode but the vibration during the operation stopping time will get worse.
CAUTION
Keep in mind that J1/J2/J3 moves at the same time during boost mode. When the following conditions are met simultaneously, the lifespan of the reduction gear unit may get shorter.
- J1 motion stroke > 90°
- J2+J3 motion stroke > 90°
- Swinging motion when J3 moves with a 90° pose.
J3=90° pose example:
Operation example:
*15: The Accel setting of "100" is the optimum setting that balances acceleration/deceleration and vibration during positioning.