NACHI Clean Robot SC400LC : The largest FPD glass substrate transfer clean robot
Robots
Main text
SC series SC400LC
The largest FPD glass substrate transfer clean robot
| Robot model | SC400LC-01 | |||
|---|---|---|---|---|
| Construction | Articulated construction | |||
| Number of axes | 6 | |||
| Drive system | AC servo system | |||
| Max. operating area |
Arm | J1 | Swivel | +/-2.62rad |
| J2 | Upward/ downward |
+1.83 to -0.44rad | ||
| J3 | Forward/ backward |
+2.09 to -0.44rad | ||
| Wrist | J4 | Rotation2 | +/-5.24rad | |
| J5 | Bending | +/-2.09rad | ||
| J6 | Rotation1 | +/-6.28rad | ||
| Max. speed | Arm | J1 | Swivel | 1.40rad/s |
| J2 | Upward/ downward |
1.40rad/s | ||
| J3 | Forward/ backward |
1.40rad/s | ||
| Wrist | J4 | Rotation2 | 1.57rad/s | |
| J5 | Bending | 1.57rad/s | ||
| J6 | Rotation1 | 2.53rad/s | ||
| Max. Payload | Wrist | 400kg | ||
| Arm | Forearm | 10kg | ||
| Upper part of J3 axis |
30kg | |||
| Allowable static load torque of wrist |
J4 | Rotation2 | 1960N·m | |
| J5 | Bending | 1960N·m | ||
| J6 | Rotation1 | 980N·m | ||
| Max. allowable moment of inertia of wrist |
J4 | Rotation2 | 200kg·m2 | |
| J5 | Bending | 200kg·m2 | ||
| J6 | Rotation1 | 147kg·m2 | ||
| Cleanliness | Class1000 (Federal Standard 209D) |
|||
| Position repeat accuracy | +/-0.5mm | |||
| Ambient temperature | 10 to 30°C | |||
| Ambient humidity | 20 to 85 %RH (Non condensing) |
|||
| Vibration value | Not more than 0.5G | |||
| Installation parameters | Rack mounting type | |||
| Robot mass | 3800kg | |||
1[rad]=180/π[°] 1[N·m]=1/9.8[kgf·m]
To mount a load to the robot arm, it must be loaded either to the forearm or to the upper part of the J3 axis.