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1. Outline
CAST-AU4/B2521E
1-3 Specifications
1-3-1 Machine Specifications
Item
X-axis
Work envelope Y-axis
Z-axis
R-axis
X-axis
Maximum speeds Y-axis
(*4)
Z-axis
R-axis
X-axis
Pose-repeatability Y-axis
(positioning accuracy) Z-axis
R-axis
X-axis
Maximum payload Y-axis
Z-axis
R-axis
X-axis
Resolution (*5) Y-axis
Z-axis
R-axis
Robot mass (including units)
Operating ambient temperature
Two axes specification
250 mm
210 mm
–
–
300 mm/s
(*1)
300 mm/s
–
–
±0.05 mm
± 0.05 mm
–
–
5kg
5kg
–
–
0.014 mm
0.014 mm
–
–
About 13 kg
Three axes specification
with Z-axis
250 mm
210 mm
70 mm
–
300 mm/s
(*2)
300 mm/s
100 mm/s
(*2)
–
±0.05 mm
± 0.05 mm
±0.05 mm
–
–
5kg
2kg
–
0.014 mm
0.014 mm
0.006 mm
–
About 15 kg
0 to 40 °C
Four axes specification
with ZR-axis
250 mm
210 mm
70 mm
0° to 360°
300 mm/s
(*3)
300 mm/s
70 mm/s
(*3)
550°/s
(*3)
±0.05 mm
± 0.05 mm
±0.05 mm
±0.1°
–
5kg
–
1.8 kg
0.014 mm
0.014 mm
0.003 mm
0.04°
About 16 kg
*1) The maximum value is subject to the payload of 4.5 kg or less. Set the speed value lower than the
maximum value when the payload exceeds 4.5 kg.
*2) The maximum value is subject to the payload of 1.5 kg or less. Set the speed value lower than the
maximum value when the payload exceeds 1.5 kg.
*3) The maximum value is subject to the payload of 1.5 kg or less. Set the speed value lower than the
maximum value when the payload exceeds 1.5 kg.
*4) The maximum value is subject to the payload of 3.0 kg or less. Set the speed value lower than the
maximum value when the payload exceeds 3.0 kg.
*5) The resolution does not indicate the absolute position accuracy. It indicates the amount of movement
(round-off function) per every pulse that is theoretically calculated from the machine structure.
This value changes especially when direction of movement or speed is changed.
The resolution value can change depending on the card when the RK card is used.