PEITIAN ROBOTICS AIR10-1420A User manual

AIR10-1420A | Manipulator Manual
Peitian Robot
A solution provider for intelligent
equipment manufacturing industry

AIR10-1420A Operation Manual
Declaration
I
Declaration
Associated manual shall be carefully read before using the industrial robot, and
shall be properly used under the premise of understanding its contents.
Any content in this manual cannot be reproduced or
transmitted in any form without permission.
All parameter indexes and design are subject to changes
without notice.
We are not liable for any possible mistakes in the manual.
We make an attempt to describe as much information as
possible in this manual.
However, we haven’t described those unnecessary and
impossible situations for various reasons.
Therefore, those information which are not described in the
manual can be seen as "impossible".
The products described in the manual is in accordance with
Foreign Trade Law of the People’s Republic of China. If the
products are exported to other countries, the permission from
Chinese government shall be obtained.
In addition, if the products are re-exported to other countries,
the permission from the re-exported counties shall be obtained.
If these products are exported or re-exported, please consult
Affluence & Eternity.

AIR10-1420A Operation Manual
Identifications used in this text
II
Identifications used in this text
Symbol
Name
Meaning
Danger
Failure to follow these
instructions will lead to
accident, and cause
serious or fatal
personnel injury, or
severe articles damage
Warning
Failure to follow these
instructions may lead to
accident, and cause
serious or fatal
personnel injury, or
severe articles damage
Electric
shock
This electrical hazard
may result in severe
personal injury or death.
Caution
It indicates the
environmental
conditions and
important matters or
shortcut operation
methods needed to be
noticed.
Prompt
It indicates that other
references or
instructions shall be
read to get additional
information or more
detailed operating
instructions

AIR10-1420A Operation Manual
General Safety instructions
III
General Safety instructions
Thanks very much for your purchase of the manipulator made by the company.
The information described is necessary for safely using the manipulator. Please
read associated manual carefully before using the manipulator, and properly use
it under the premise of understanding its contents.
Please adequately understand the manipulator specifications through available
instructions for detailed function.
Safety precautions
In general, the manipulator cannot be operated singly, but it is efficient when
fitting with end effector, and constructed with peripheral equipment and system.
In consideration of security, the manipulator cannot put into separate
consideration, while it shall be placed in the system environment.
Please take corresponding measures for safety barriers during the manipulator
operation.
Warning, caution and notices
This manual contains various attentions including operating personnel safety
and preventing manipulator damage. The significance of safety is described in
form of "Warning" and "Caution", and other supplementary instructions are
stated in form of "Notices".
Please thoroughly read the these matters described in "Warning", "Caution" and
"Notices".
Warning
Faulty operation may lead to death or serious injury of operator or other operating
personnel.
Caution
Faulty operation may lead to minor injury of operator or other operating
personnel or equipment damage.
Prompt
It is the supplementary instructions except warning and caution.
General cautions
Warning
Please ensure that the manipulators are in halted state during connecting or
disconnecting associated peripheral equipment (such as safety barrier, etc.) and
various signals of the manipulator, to avoid fault connection.
Warning
Don’t operate manipulators under the following conditions. Otherwise, it will
cause adverse effects on manipulator and peripheral equipment, and also may
result in operating personnel injury and death.
Apply it in flammable atmosphere;

AIR10-1420A Operation Manual
General Safety instructions
IV
Apply it in explosive atmosphere;
Apply it in the environment with substantial amount of radiation;
Apply it in water or high-humidity atmosphere;
Apply it for transporting people or animals;
Apply it as foot stool (such as climbing on the manipulator or overhanging
underneath)
Warning
Operating personnel using the manipulator shall wear the following safety
appliances for subsequent operation.
Appropriate working clothes;
Safety shoes;
Safety helmet.
Prompt
The programming and maintenance staff shall accept proper training through
the company’s training course.
Installation attentions
Warning
Please follow the methods shown in the manual for proper operation during
carrying and installing the manipulator. Any operation in wrong methods may
lead turnover of the manipulator and then result in injury and death of operating
personnel.
Warning
Please operate the manipulator in low speed, and then increase the speed
gradually to ensure whether it is abnormal when the manipulator is used for the
first time upon installation.
Attentions during the operation
Warning
During the manipulator operation, please ensure there is no one in the safety
barriers for subsequent operation. Accordingly, check whether there are
potential risks; when the potential risks are verified, operate it after eliminating
the risks.
Warning
During the demonstrator operation, wearing gloves may cause errors in
operation, thus, taking the gloves off is necessary for subsequent operation.
Prompt
Program, system variables and other information can be saved in the storage
card and other storage medium. To prevent data loss from unexpected accidents,
the users are recommended to backup data regularly.

AIR10-1420A Operation Manual
General Safety instructions
V
Attentions during the programming
Warning
Operate outside safety barrier as far as possible during the programming. If it is
required to operate in the safety barrier for unavoidable conditions, following
precautions shall be noticed:
Carefully view the conditions in the safety barrier, and then enter the
barrier after ensuring there is no danger;
Make sure the emergency stop button can be pressed at any time;
Operate the manipulator in low speed;
Operate it after ensuring the whole system state to prevent the operating
personnel from caught in danger due to the remote control command or
motion for peripheral equipment.
Caution
Testing and operation shall be carried out in accordance with prescribed
procedures after programming ends, at this moment, the operating personnel
shall operate outside the safety barrier.
Prompt
The operating personnel who are in charge of programming shall undergo proper
training through the course provided by the company.
Attentions during the maintenance
Warning
Some maintenances have electric shock hazard when powered on, thus it shall
be carried out under the disconnection of the manipulator and system power
supply. Professional maintenance personnel shall be designated to take
maintenance as required; other personnel shall be avoided to switch on power
in the maintenance, if it is required, the personnel shall press the emergency
stop button for subsequent operation.
Warning
Please consult the company if it is necessary to replace the parts.
If customers replace the parts by themselves, unexpected accidents may occur,
and then it will cause damage and injury to the manipulator and operating
personnel respectively.
Warning
When entering into the safety barrier, the whole system shall be checked to
ensure there is no danger. If there is dangerous situation and there is no choice
but to enter the barrier, the system state shall be grasped, and extremely careful.
Warning
If it is necessary to replace any part , please use the one specified by the
company. But beyond this, it may cause damage to the manipulator.

AIR10-1420A Operation Manual
General Safety instructions
VI
Warning
When dismounting motor or brake, it shall be dismantled after crane lifting and
other measures are taken to prevent manipulator arm, etc. from falling.
Warning
If the manipulator is moved for unavoidable reasons during the maintenance, the
following matters shall be noticed:
Make sure the escape routes are unobstructed, and operate it after
grasping the whole system operation conditions to avoid manipulator and
peripheral equipment blocking the route of retreat.
Constantly notice whether there is danger around, and make preparations
for pressing emergency stop button at any time when needed.
Warning
When mobile motor, reducer, etc. equipped with parts unit with a certain weight,
crane and other auxiliary equipment shall be used to prevent overlarge operation
burden for operating personnel. Meanwhile, any mistake shall be avoided;
otherwise, it will cause injury and death of operating personnel.
Warning
Don’t tumble due to the lubricating oil scattered on the floor, and wipe it off for
ruling out the possibility of danger.
Warning
During the operation, any part of the body cannot be put on the manipulator, and
climb on the top of the manipulator to avoid unnecessary damage or adverse
effects on the manipulator.
Warning
Note that the following section will become hot. Well prepare heat-resistant
gloves and other protective tools when the equipment is required to touch under
heating circumstance for unavoidable reasons.
Servo motor;
Reducer;
Components near motor / reducer;
Interior control cabinet.
Warning
The parts dismantled from components (such as bolts, etc.) shall be
installed in the original position. If the parts are not sufficient or surplus, ensure
it again and install it normally.

AIR10-1420A Operation Manual
General Safety instructions
VII
Warning
When maintaining pneumatic system and hydraulic system, internal pressure
shall be released to 0 at first for subsequent operation.
Warning
Testing and operation shall be carried out in accordance with prescribed
methods after components replacement. At this moment, the operating
personnel shall operate outside the safety barrier.
Warning
After maintenance ends, lubricating oil, debris, water, etc. scattered on the floor
around the manipulator and in the safety barriers shall be swept thoroughly.
Warning
Dust and other foreign matters are not allowed in the manipulator during the
components replacement.
Warning
Operating personnel who are in charge of maintenance and repair shall accept
the company’s training and pass the examination.
Warning
During the maintenance, appropriate luminaire shall be equipped, but note that
this cannot be the sources to cause new danger.
Warning
Take periodic maintenance with reference to this instruction; if not, it will cause
the service life of the manipulator and may result in accidents.

AIR10-1420A Operation Manual
Safety precautions
VIII
Safety precautions
Before operating the manipulator, peripheral equipment and its manipulator
system, sufficiently study the safety precaution for operating personnel and
system.
Fig. 1 Schematic Diagram of Safe Operation of the Industrial Robot
Definition of operating personnel
The definition of manipulator operating personnel is as shown below:
Operator
Conduct ON/OFF of manipulator operation
Start manipulator program from the operation panel
Programmer
Carry out operations except for that of the operator;
Carry out demonstration, etc. in the safety barrier.
Maintenance engineer
Carry out operations except for that of the operator;
Carry out demonstration, etc. in the safety barrier;
Perform manipulator maintenance (repair, regulation, replacement, etc.)
"Operator" cannot operate in the safety barrier.
"Programmer" and "maintenance engineer" can operate in the safety barrier.
The operation in the safety barrier includes carrying, setting, demonstration,
regulation, maintenance, etc..
During operation, programming and maintenance of the manipulator, operator,
programmer and maintenance engineer shall pay attention to safety, and at least
wear the following items:
Appropriate working clothes;
Safety shoes;
Safety helmet.

AIR10-1420A Operation Manual
Safety precautions
IX
Safety of operating personnel
When applying the automatic system, the safety of operating personnel shall be
guaranteed. Since the motion range is very dangerous, measures for preventing
the operating personnel from entering into the manipulator motion range shall
be applied.
General cautions are shown as below. Proper available measures shall be applied
to ensure the safety of operating personnel:
Operating personnel who are in charge of operating the manipulator
system shall accept the company’s training and pass the examination.
During the equipment operation, even the manipulator seems to be shut
down, it may be because the manipulator may be in motion state waiting
for start signal. This state shall be treated as operation state. To ensure
the safety of operating personnel, warning lamps and other equipment
display or sound shall be applied to ensure the manipulator is in the
operation state;
Safety barriers and safety door around the system shall be set, so as to
make operating personnel cannot enter into the safety barriers if the
safety door is not opened. Interlock switch, safety latch, etc. shall be set
on the safety door, so as to stop the manipulator when operating
personnel open the safety door;
Electrical grounding shall be applied for peripheral equipment;
Peripheral equipment shall be set outside the manipulator motion range
as far as possible;
The motion range of the manipulator shall be marked with a line on
the ground and other ways, thus, the operator knows clearly about the
motion range, including mechanical arm and other tools fitted on the
manipulator;
The ground shall be set with cushion switch or fitted with photoelectric
switch, etc. so as to sound alarm through buzzer or to glows, etc. when
operating personnel enter into the motion range of the manipulator;
One lock shall be set as required; no one can connect the manipulator
power except the operating personnel;
When taking single commissioning of peripheral equipment, the
manipulator power shall be disconnected.
The safety of operator
Operator who is responsible for operating the power ON/OFF of the manipulator
system in the daily operation, or starting the manipulator program operation
through demonstrator.
Operator is not entitled to operate in the safety barriers:
If the manipulator motion is not required, its control cabinet power shall
be disconnected or the emergency stop button shall be pressed;
Manipulator system shall be operated outside the safety barrier;
To prevent irrelevant personnel from spraying into manipulator motion
range or to prevent operator from entering into hazardous area, protective
fence and safety door shall be set;
Emergency stop button shall be set in arm's reach for operator.
Notes
Manipulator control device can connect external emergency stop button. Thus,
once the emergency stop button is pressed, the manipulator will be shut down
through this connection.

AIR10-1420A Operation Manual
Safety precautions
X
The safety of programmer
When taking manipulator demonstration operation, if entering into manipulator
motion range is required in some cases, please pay particular attention to safety:
Please operate outside the manipulator motion range in case that there is
no need to operate in its range;
Please ensure the manipulator or peripheral equipment is in safety state
before demonstration operation;
Please confirm location, state, etc. of safety device (such as emergency
stop button, emergency stop switch of demonstrator, etc.) in advance if
the demonstration is operated in the manipulator range for unavoidable
reasons;
Programmer shall pay special attention to keep other personnel from
entering into manipulator motion range;
Please fully confirm that there is no one in the manipulator range and no
abnormal sign before starting;
Please follow the following procedures to carry out testing and operation
after demonstration ends:
1. Execute for at least one cycle with single cycle at low speed to ensure
there is no abnormal sign;
2. Continuously operate for at least one cycle at low speed to ensure
there is no abnormal sign;
3. Continuously operate for at least one cycle at intermediate speed to
ensure there is no abnormal sign;
4. Continuously operate for at least one cycle at intermediate speed to
ensure there is no abnormal sign;
5. Execute programming under automatic operation mode;
Programmer shall evacuate to the outer place of the safety barrier during
automatic operation of the manipulator.
The safety of maintenance engineer
To ensure the safety of maintenance engineer, the following items shall be fully
noticed:
During the manipulator operation, don’t enter into its motion range;
Take maintenance when the power supply of control device is
disconnected. Apply lock, etc. to lock on main circuit breaker to prevent
other personnel from connecting the power;
Press control cabinet or demonstrator emergency stop button if entering
into the manipulator motion range is required for unavoidable reasons in
an energized state. In addition, operating personnel shall put up the sign
of "under maintenance", and remind the other personnel of not operating
the manipulator arbitrarily;
Please ensure the manipulator or peripheral equipment is in safety state
before maintenance;
Don’t execute automatic operation when there is someone in the
manipulator motion range;
Don’t block the escape routes of the operating personnel when operating
near wall, tool, etc. or the distance between personnel is close;
When the manipulator is equipped with the tool and there are movable
appliances such as band carrier, etc. except manipulator, attentions shall
be fully paid for these devices;
One person who is familiar with manipulator system and can easily
observes dangers shall be assigned around the manipulator during the

AIR10-1420A Operation Manual
Safety precautions
XI
operation to ensure that the emergency button can be pressed at any
time;
When replacing the parts or reassembling, attentions shall be paid in
case of foreign material adhesion or foreign material invasion;
When maintaining internal control device, in case of contacting unit,
printed circuit board, etc., to prevent electric shock, power supply of main
circuit breaker of control device shall be disconnected firstly before the
operation;;
Use parts specified by the company when replacing the parts;
Fully ensure that there is no one within operation scope of the
manipulator and the manipulator and peripheral equipment are in good
conditions when restarting the manipulator system after the
maintenance.
Safety of peripheral equipment
Attentions on relevant program
Checkout equipment such as limit switch, etc. shall be used in order that
dangerous condition is detected, and the manipulator shall be shut down
as appropriate according to the signal of checkout equipment;
Applicable measures such as stopping the manipulator, etc. shall be
taken against abnormality in other manipulators or peripheral equipment
even if there are no problems in this manipulator;
Mutual interference shall be avoided on system in which the manipulator
and peripheral equipment operate synchronously;
In order to control status of all equipment from manipulator, the
manipulator and peripheral equipment can be mutually locked and the
operation of manipulator can be stopped according to the needs.
Attentions on machinery
Keep the system of the manipulator clear and use it under environment
without influence from grease, water, dust, etc.;
Cutting fluid and cleaning agent are not allowed to use;
Control the operation of the manipulator with limit switch and mechanical
brake in case of mutual collision between manipulator and peripheral
equipment;
Subscriber cable, hose, etc. are not allowed to be put inside the
manipulator;
Mechanical movement shall be avoided when installing the cable outside
the manipulator;
As for the model of exposed cables in the manipulator, operation for
exposed cable shall not be modified;
Interference in other parts of the manipulator shall be fully avoided when
installing peripheral equipment on the manipulator;
Any frequent outage and shutdown through emergency stop button, etc.
on operating manipulator can lead to manipulator fault.
Machinery safety of the manipulator
Attentions during the operation
Operators shall be on high alert and quickly respond to occurrence of all
problems when operating the manipulator through slow feeding mode under any
condition.
Attentions on relevant program
Mutual interference between manipulators shall be fully avoided during
operational scope from multiple manipulators.

AIR10-1420A Operation Manual
Safety precautions
XII
Set a specified work origin for manipulator program and create a program
starting from work origin and ending at this one to see clearly whether operation
of the manipulator is finished or not from the outer edge.
Attentions on mechanism
Keep operating environment of the manipulator clear and use it under
environment without influence from grease, water and dust, etc.
Safety for end effector
Time difference before the command reaches the actual operation shall be fully
considered and exercise the control with some extension and contraction after
sending control command out when controlling all actuators (pneumatic,
hydraulic and electric).
Set the detection unit on end effector to monitor status of end effector and
control operation of the manipulator.

AIR10-1420A Operation Manual
Content
i
Content
Declaration ................................................................................................................................................I
Identifications used in this text ..................................................................................................................II
General Safety instructions...................................................................................................................... III
Safety precautions................................................................................................................................VIII
Content......................................................................................................................................................i
1Document Summary ..........................................................................................................................1
1.1 Purpose and Content.....................................................................................................................1
1.2 Number and Version......................................................................................................................1
1.3 Users ...........................................................................................................................................1
1.4 Related Information.......................................................................................................................1
1.5 Declaration of Compliance with Product Standards ..........................................................................1
2Definition..........................................................................................................................................3
2.1 Overview of industrial Robot ..........................................................................................................3
2.2 Basic Composition.........................................................................................................................3
2.3 Basic Specifications.......................................................................................................................4
2.4 Environmental Requirements for Operation......................................................................................4
3Preparation before Installation ...........................................................................................................6
3.1 Checking items .............................................................................................................................6
3.2 Installation Tool and Required Connectors for Robot Body ................................................................6
4Installation of Robot Body ..................................................................................................................7
4.1 Technological Specifications ..........................................................................................................7
4.2 Fixing Mode..................................................................................................................................8
5AIR10-1420A Manipulator Electrical Connections ..............................................................................11
5.1 Electrical Interface Type for Manipulator.......................................................................................11
5.2 Definitions of Heavy-duty Connector of Manipulator ......................................................................11
6Transport and Handling ...................................................................................................................13
6.1 Handling posture.........................................................................................................................13
6.2 Handling dimensions...................................................................................................................14
6.3 Handling with Forklift..................................................................................................................15
6.4 Handling with Swing Ring............................................................................................................16
7Accessories and Connectors on Manipulator .....................................................................................18
7.1 Examples of Accessories..............................................................................................................18
7.2 Connection mode ........................................................................................................................19
8Product Label and Meaning .............................................................................................................20
8.1 Safety Label................................................................................................................................20
8.2 Manipulator Nameplate...............................................................................................................20
8.3 Direction Sign of Each Axle ..........................................................................................................21
9Performance of AIR10-1420A Manipulator ........................................................................................22
9.1 Basic Specification ......................................................................................................................22
9.2 Range of Robot Body...................................................................................................................22
9.3 Mechanical limit .........................................................................................................................23
9.4 Axle Speed .................................................................................................................................24
9.5 Flange Interface Size ...................................................................................................................24
9.6 Robot Load and Load Diagram......................................................................................................25
10 AIR10-1420A Calibration of each axis of manipulator .........................................................................29
10.1 summary ....................................................................................................................................29

AIR10-1420A Operation Manual
Content
ii
10.2 The situations that require calibration are as follows ......................................................................29
10.3 Calibration position of each axis ...................................................................................................29
11 General principles of maintenance ....................................................................................................32
12 maintenance items ..........................................................................................................................33
12.1 daily maintenance .......................................................................................................................33
12.2 First maintenance........................................................................................................................33
12.3 regular maintenance....................................................................................................................34
13 Project maintenance process............................................................................................................37
13.1 operator cleaning ........................................................................................................................37
13.2 cable maintenance ......................................................................................................................37
13.3 Battery replacement ....................................................................................................................40
13.4 changing grease..........................................................................................................................41
13.5 replace synchronous belt .............................................................................................................45
14 Common faults and handling............................................................................................................48
15 Storage condition ............................................................................................................................54
15.1 Environmental conditions for long-term storage of the operator ......................................................54
15.2 Precautions for storage of operator ...............................................................................................54
Appendix A Appendix A periodic maintenance form of AIR10-1420A operator............................................55
Appendix B table of screw strength and tightening torque (nm)................................................................56

AIR10-1420A Operation Manual
Document Summary
1
1Document Summary
1.1 Purpose and Content
This document has been prepared to allow technicians quickly, correctly and
securely installing and using the robot manipulator, familiar with the notes and
doing maintenance on a regular basis to the robot manipulator.
1.2 Number and Version
Information of this document is as shown in Table 1-1.
Table 1-1 Doc. Information
Doc. Name
Doc. Number
Doc. Version
AIR10-1420A Operation Manual
BJM/SS-UG-02-021
V2.6.1
1.3 Users
Operators
Teachers
Maintenance engineers
1.4 Related Information
The content of this manual may relate to following documents, if necessary,
please see:
inCube10 Control Cabinet Manual
AIR-TP Teach Pendant Manual
ARL Programming Manual
AIR Series of Robot System Failures and Handling Manual
1.5 Declaration of Compliance with Product Standards
The requirements for industrial robot system design are detailed in Table 1-2.
Table 1-2 Declaration of Applicable Safety Standards
Standard
Description
Version
2006/42/EC
Machinery directive :
Machinery directive 2006/42/EC (new version) issued
by European Parliament and Council on May 17, 2006
to modify 95/16/EC
2006
2014/30/EU
Electromagnetic compatibility directive:
2014/30/EU directive issued by European Parliament
and Council on February 26, 2014 to balance the
electromagnetic compatibility regulations of member
states
2014
2014/68/EU
Pressure equipment directive:
2014/68/EU directive issued by European Parliament
and Council on May 15, 2014 to balance the pressure
equipment regulations of member states
(Only available on the robot with hydraulic or
pneumatic counterbalance)
2014
ISO 13850
Safety of machinery:
Emergency stop function - Principles for design
2015
ISO 13849-1
Safety of machinery:
Safety-related parts of control systems - Part 1:
General principles for design
2015
ISO 12100
Safety of machinery:
2010

AIR10-1420A Operation Manual
Document Summary
2
Standard
Description
Version
General principles for design - Risk assessment and
risk reduction
ISO 10218-1
Robots and robotic devices - Safety requirements for
industrial robots -
Part 1: Robots
(Prompt: Information is consistent with
ANSI/RIAR.15.06-2012, Part 1)
2011
61000-6-2
Electromagnetic compatibility (EMC):
Part 6-2: Generic standards - Immunity for industrial
environments
2005
61000-6-4 + A1
Electromagnetic compatibility (EMC):
Part 6-4: Generic standards - Emission standard for
industrial environments
2011
60204-1 + A1
Safety of machinery:
Electrical equipment of machines - Part 1: General
requirements
2009
IEC 60529
IP rating provided by enclosures (IP Code):
This standard applies to the IP rating for the electrical
equipment with enclosures and the rated voltage
exceeding 72.5kv.
2001

AIR10-1420A Operation Manual
Definition
3
2Definition
2.1 Overview of industrial Robot
Industrial robot consists of the following parts isas shown in Fig. 2-1:
Manipulator
Control cabinet
Teach pendant
Connecting [power supply] cable,etc.
Fig. 2-1 Composition of Robot System
2.2 Basic Composition
Manipulator refers to the mechanism of robot system to grab or move the
objects (tools or workpieces), also known as the robot body. This manipulator is
the 6-DOF tandem industrial robot that consists of three swing axes and three
rotating axes.
AIR10-1420A robot manipulator and the names of its various parts are as
shown in Fig. 2-2.
Fig. 2-2 AIR10-1420A Robot Body and Its Various parts
2 inCube10
3 AIR-TP
1 AIR10-1420A
J6 flange interface
J4 axle arm
J4 servo motor
J3 servo motor
J2 axle arm
J2 servo motor
J1servo motor
Manipulator base
4 Cable mP

AIR10-1420A Operation Manual
Definition
4
2.3 Basic Specifications
The basic specifications of AIR10-1420A robot manipulator is as shown in
Table 2-1:
Table 2-1 Basic Specifications of AIR10-1420A Robot
AIR10-1420A
Coordinate form
6-DOF articulated robot
Number of control axes
6 axes (J1,J2,J3,J4,J5,J6)
Mounting mode
Ground mounting and upside-down mounting
Range
（upper limit/
lower limit）
J1*
-170°~170°
J2
-85°~150°
J3
-95°~170°
J4
-195°~195°
J5
-135°~135°
J6
-360°~360°
Max. speed
J1
200°/s
J2
200°/s
J3
200°/s
J4
370°/s
J5
370°/s
J6
600°/s
Transport
capacity
Wrist
10kg
Elbow
12kg
Drive mode
Electrical servo drive with AC servo motor
Repeated positioning accuracy
±0.02mm
Robot weight
160kg
Noise
70dB
IP rating
IP54（wrist IP67）
Mounting conditions
Ambient temperature: 0~45℃
Humidity: not more than 95% at constant
temperature without condensation
Allowable altitude: not more than 1000m
above sea level
No corrosive, flammable or explosive gases
*If the mechanical limit of J1 axle is removed, the range may reach -180 to 180°。
2.4 Environmental Requirements for Operation
Temperature
The range of ambient temperature for AIR10-1420A manipulator is as shown in
Table 2-2:
Table 2-2 Temperature Limits
Requirement
Value（℃）
Min. temperature
0
Max. temperature
45