LS20-C Specification Table
| Item | LS20-C804 * | LS20-CA04* | |
|---|---|---|---|
| Machinery names | Industrial Robot | ||
| Product series | LS | ||
| Model | LS20-C**** | ||
| Installation method | Base table mounting type | ||
| Arm length | Arm #1 + Arm #2 | 800 mm | 1000 mm |
| Arm #1 | 350 mm | 550 mm | |
| Arm #2 | 450 mm | ||
| Max. operating speed *1 | Joint #1+ #2 | 9940 mm/s | 11250 mm/s |
| Joint #3 | 2300 mm/s | ||
| Joint #4 | 1400 °/s | ||
| Repeatability | Joint #1+ #2 | ± 0.025 mm | |
| Joint #3 | ± 0.01 mm | ||
| Joint #4 | ± 0.01° | ||
| Payload (Load) | Rating | 10 kg | |
| Max. | 20 kg | ||
| Joint #4 allowable moment of inertia *2 | Rating | 0.05 kg·m2 | |
| Max. | 1.00 kg·m2 | ||
| Resolution | Joint #1 | 0.000275 °/pulse | |
| Joint #2 | 0.000439 °/pulse | ||
| Joint #3 | 0.00148 mm/pulse | ||
| Joint #4 | 0.001046 °/pulse | ||
| Hand diameter | Mounting | ⌀ 25 mm | |
| Through hole | ⌀ 18 mm | ||
| Mounting hole | 200 × 200 mm | ||
| 4 × ⌀16 | |||
| Weight (cables not included) | 48 kg: 105.8 lbs. (pound) | 51 kg: 112.5 lbs. (pound) | |
| Driving method | All joints | AC servo motor | |
| Motor rated capacity | Joint #1 | 750 W | |
| Joint #2 | 600 W | ||
| Joint #3 | 400 W | ||
| Joint #4 | 150 W | ||
| Option | Installation Environment | Cleanroom *3 | |
| Joint #3 insertion force | 250 N | ||
| Installed wire for customer use | 15 pin: D-sub, 9 pin: D-sub Equivalent to 8 pin (RJ45) Cat.5e | ||
| Installed tubes for customer use | 2 ·pneumatic tubes (⌀8 mm): 0.59 MPa (6kgf/cm2: 86 psi) | ||
| 2 ·pneumatic tubes (⌀6 mm): 0.59 MPa (6kgf/cm2: 86 psi) | |||
| Environmental Requirements | Ambient Temp *4 | 5 to 40°C | |
| Ambient relative humidity | 10 to 80 % (no condensation) | ||
| Noise level *5 | LAeq = 74.5 dB (A) or under | ||
| Applicable Controller | RC800-A | ||
Assignable values ( ) Default values | Speed | 1 to (3) to 100 | |
| Accel *6 | 1 to (10) to 120 | ||
| SpeedS | 0.1 to (50) to 2000 | ||
| AccelS | 0.1 to (200) to 10000 | ||
| Fine | 0 to (1250) to 65535 | ||
| Weight | 0,450 to (10,450) to 20450 | ||
| M/C cable | Cable weight (only cables) | For fixing, signal | 0.06 kg/m |
| For fixing, power | 0.30 kg/m | ||
| For movable use, signal | 0.07 kg/m | ||
| For movable use, power | 0.36 kg/m | ||
| Cable Diameter | For fixing, signal | ⌀6.2 mm (typ) | |
| For fixing, power | ⌀13.7 mm (typ) | ||
| For movable use, signal | ⌀6.4 mm (typ) | ||
| For movable use, power | ⌀13.7 mm (typ) | ||
| Minimum bending radius *7 | For fixing, signal | 39 mm | |
| For fixing, power | 83 mm | ||
| For movable use, signal | 100 mm | ||
| For movable use, power | 100 mm | ||
| Item | LS20-C804S | LS20-CA04S | LS20-C804C | LS20-CA04C | |
|---|---|---|---|---|---|
| Max. motion range | Joint #1 | ± 132° | |||
| Joint #2 | ± 152° | ||||
| Joint #3 | 420 mm | 390 mm | |||
| Joint #4 | ± 360° * 8 | ||||
| Max. pulse range (pulse) | Joint #1 | -152918 to 808278 | |||
| Joint #2 | ± 345885 | ||||
| Joint #3 | -283853 to 0 | -263578～0 | |||
| Joint #4 | ± 344064 | ||||
*1: In the case of PTP command. Maximum operating speed for CP command is 2000 mm/s on horizontal plane.
*2: In the case where the center of gravity is at the center of Joint #4. If the center of gravity is not at the center of Joint #4, set the parameter using Inertia setting.
*3: The cleanroom environment specification manipulator exhausts the inside of the base and the arm cover together. Therefore, when there is a gap in the base part, not enough negative pressure will be applied to the end of the arm, which may cause dust emission.
- Cleanroom level: Class ISO 4 (ISO14644-1)
- Exhaust:
- Exhaust port dimension: internal diagram⌀12 mm
- Compatible exhaust tube: Polyurethane Tube
- Outer diameter⌀ 12 mm (internal diameter⌀8 mm)
- Recommended amount of exhaust: About 1000cm3/s (Standard state)
*4: When the product is used in a low temperature environment around the minimum temperature of the product specification, or when the product is suspended for a long time on holidays or at night, a collision detection error may occur due to the large resistance of the drive unit immediately after the start of operation. In such case, it is recommended to warm up for about 10 minutes.
*5: Conditions of Manipulator during measurement as follows:
Operating conditions : Under rated load, 4-joints simultaneous motion, maximum speed, maximum acceleration/deceleration, 100% duty
Measuring position: Five directions (front, back, left, right, top), 1m from the surface of the device, at the height where the maximum operating noise occurs.
*Definition of the surface of the device: The smallest rectangular parallelepiped (equivalent to the "reference box" in JIS Z 8737-1) that encompasses the range in which the robot operates at maximum operating noise.
*6: In general use, Accel setting 100 is the optimum setting that maintains the balance of acceleration and vibration when positioning. Although values larger than 100 can be set to Accel, it is recommended to minimize the use of large values to necessary motions since operating the manipulator continuously with the large Accel setting may shorten the product life remarkably.
*7: When wiring a movable M/C cable, be careful of the following:
Install the cable so that it does not put pressure on the connector part.
Bend the cable at or above the minimum bending radius of the movable part. The bending radius (A) is the dimension shown in the diagram below.
Symbol Description a M/C Cables b Connector
KEY POINTS
You cannot use the SFree command to J3 and J4.
*8 Multi-rotation is possible up to ±10 rotations or more. For details on the maximum number of rotation, please contact the supplier.