B-82334EN/04 3.

BASIC SPECIFICATIONS

3 BASIC SPECIFICATIONS
3.1 ROBOT CONFIGURATION
Link base
J3 arm Wrist posture
hold link
drive link
Wrist posture
J3 arm hold link
J2 arm

Spring
AC servo motor
Counter balancer for J4-axis balancer

AC servo motor
for J3-axis J1 base
AC servo motor J4 casing
for J2-axis AC servo motor
for J1-axis

Fig. 3.1 (a) Mechanical unit configuration

J3
+
-
J2
-

+ + J4
-
+

- J1

Fig. 3.1(b) Each axes coordinates

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Table 3.1 Specifications

Item M-410iB/700
Controlled axes 4-axes (J1, J2, J3, J4)
Installation Floor mount
J1-axis 360º (60º/sec) 6.28rad(1.05rad/sec)
Motion
J2-axis 144º (60º/sec) 2.51rad(1.05rad/sec)
range
J3-axis 136º (60º/sec) 2.37rad(1.05rad/sec)
(Note 1)
J4-axis 540º (120º/sec) 9.42rad(2.09rad/sec)
Max. At wrist (Note 2) 700kg
payload On J3 arm (Note 2) 50kg
Allowable load inertia at wrist 490kg-m2 (5000kgf-cm-sec2)
Drive method Electric servo drive by AC servo motor
Repeatability ±0.5mm
2700kg(with controller of integrated controller type)
Weight of mechanical unit
2580kg(without controller)
Less than 70dB
NOTE
This value is equivalent continuous A-weighted sound pressure level that
Acoustic noise level applied with ISO11201 (EN31201). This value is measured with the
following conditions.
- Maximum load and speed
- Operating mode is AUTO
Ambient temperature: 0 to 45℃ (Note 3)
Ambient humidity: Normally 75%RH or less
(No dew or frost allowed)
Short time 95%Rh or less
Installation environment (Within 1 month)
Permissible altitude: Above the sea 1000m or less
Vibration: 0.5G or less
Free of corrosive gases (Note 4)

NOTE
1 It does not arrive at each axial maximum speed at the short movement distance.
2 Prevent the total of the load at wrist and on J3 arm from exceeding 700kg.
In case of M-410iB, avoid keeping J3 arm horizontally with max payload for a
long time to prevent occurrence of the overheat alarm.
3 When robot is used in low temperature environment that is near to 0ºC,or robot
is not operated for a long time in the environment that is less than 0ºC in a
holiday or the night, because viscous resistance of the drive train is so big that
may cause occurrence of collision detect alarm (SRVO –050) etc. In this case,
we recommend performing the warm up operation for several minutes.
4 Contact the service representative, if the robot is to be used in an environment
or a place subjected to severe vibrations, heavy dust, cutting oil splash and or
other foreign substances.

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3.2 MECHANICAL UNIT OPERATION AREA AND

INTERFERENCE AREA
Fig. 3.2 shows the robot interference area. When installing peripheral devices, be careful to clear away
any objects that are the robot and the robot’s motion path in normal operation.

R
80
3
1080

R 3143

R
78
1030 0
652 620

(+1925,+2870)

10° Motion range of

of wrist tip
1300 255 334
172
1220
26°

(+1078,+2527)
390 10
10°

0° (+3031,+2165)
44° 65
°

(+966,+1732)
3195

2870

(+3143,+1424)
25°

(+1065,+1278)
1596

°
1424

126
(+3025,+663)
1057.5

(+1065,+666)

(+1082,+160)

(0, 0) 1101
(+1846,-88)
88

1107 3143

Fig. 3.2 Interference area

3.3 ZERO POINT POSITION AND MOTION LIMIT

Zero point and software motion limit are provided for each controlled axis. The robot cannot exceed the
software motion limit unless there is a failure of the system causing loss of zero point position or there is
a system error.

Exceeding the software motion limit of a controlled axis is called overtravel (OT). Overtravel is
detected at both ends of the motion limit for each axis.
In addition, the motion range limit by a mechanical stopper is also prepared to improve safety.

Fig.3.3(a) shows the position of mechanical stopper.

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3.BASIC SPECIFICATIONS B-82334EN/04

J2-axis mechanical J2-axis mechanical

stopper stopper
(,minus side) (plus side)
J1-axis mechanical
stopper
(common to plus side and
minus side)

J2/J3-axis interference angle

mechanical stopper
(minus side)
J2/J3-axis interference angle
mechanical stopper
(plus side) J3-axis mechanical stopper
(minus side)

J3-axis mechanical stopper

(plus side)

Fig. 3.3 (a) position of mechanical stopper

Fig.3.3 (b) - (g) show the zero point, motion limit (stroke end), limit switch detection position, and
maximum stopping distance (stopping distance in condition of max.speed and max.load) of each axis.

Only in case of J1-axis, robot stops by transforming mechanical stopper. There is no mechanical stopper
for J4-axis. Only in case of J1 axis, robot stops by transforming mechanical stopper. Be sure to exchange
transformed stopper to new one. Tight the bolts according to Appendix B. Replace mechanical stopper of
J1- axis referring to Fig.3.3 (a). Don’t reconstruct the mechanical stopper. There is a possibility that the
robot doesn't stop normally.

* The motion range can be changed. For information on how to change the motion range, see
Chapter 6, “AXIS LIMIT SETUP”.

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B-82334EN/04 3.BASIC SPECIFICATIONS

- 180°
+194v The maximum stopping
distance (positiono)
+192v The maximum stopping
distance (position)
(When movable stopper option)

+181v Limit switch detection position

0° u180v Stroke end
-181v Limit switch detection position
-192v The maximum stopping
distance (positon)
(movable stopper option)
-194v　The maximum stopping
distance (position)

+180°
Fig. 3.3 (b) J1-axis motion limit

0°
-44v Stroke end
(Lower limit)
-48v The maximum 44°
stopping distance (positon)
10
0°

+100v Stroke end(Upper limit)

+104v The maximum stopping
distance(Upper limit)

Fig. 3.3 (c) J2-axis motion limit

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3.BASIC SPECIFICATIONS B-82334EN/04

J3=+13.5v
The maximum
stopping distance (position)
J3=+10v
Stroke end (Upper limit)

10°
0°

J3=-136v
The maximum
stopping distance (position)

J3=-126v
°
Stroke end(Lower limit) 126

Fig. 3.3 (d) J3-axis motion limit

J2=0°

65
°
J2+J3=+79v
The maximum
stopping distance (position)

10° J3=0°
J2+J3=+75v
Stroke end
(Upper limit)

Fig. 3.3 (e) J2/J3-axis interference angle (plus side)

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B-82334EN/04 3.BASIC SPECIFICATIONS

0°

°
70
J2+J3=-70v
Stroke end(Lower limit)

J2+J3=-74v
The maximum
stopping distance (position)

Fig. 3.3 (f) J2/J3-axis interference angle (minus side)

Restriction by software
0°

Stroke limit
(Lower limit)

-270° +270°

Stroke limit
(Upper limit)

Fig. 3.3 (g) J4-axis motion limit

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3.BASIC SPECIFICATIONS B-82334EN/04

3.4 WRIST LOAD CONDITIONS

Fig. 3.4 shows the relationships between the horizontal offset of the center of gravity of the wrist load and
the permissible load inertia. See the 3.1 about allowable load moment and inertia at wrist.
See Fig. 3.4 (b) for explanations about the vertical offset of the center of gravity of the wrist load.
Keep the wrist load within a range graphically shown in Fig. 3.4 (a).
See Fig. 3.4 (c) for explanations about how to calculate the load inertial.

手首許容負荷線図(M-410iB/700)
手首許容負荷イナーシャ

重心の許容水平オフセット量
Fig. 3.4 (a) Diagram of the permissible load for the wrist section (horizontal offset)

NOTE
Allowable vertical offset is 1000mm from wrist flange.

Center of gravity of hand

Allowable vertical
offset for center of gravity
Center of gravity of total load

Center of gravity of workpiece

Fig. 3.4 (b) Allowable wrist load condition

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J＝Ji+WL2

Ji
W

W：Mass (kg)
L,l,a,b,r ：Length (m) J
2
J：Inertia (kgm ) L
489.13

Expressions for calculating inertia around the center of gravity (geometric inertia)

r r

a l
b

a 2 ＋b 2 l2 r2 2r 2
J i ＝W J i ＝W J i ＝W J i ＝W
12 12 2 5

Fig. 3.4 (c) Calculating inertia

The total inertia around the wrist (J4) axis is the sum of the horizontal offset inertia of a workpiece and
the geometric inertia around the center of the gravity of the workpiece. It ca be calculated as shown
above.

NOTE
If a hand or workpiece has a complicated shape, divide it into simple shapes as
shown above. Calculate the geometric inertia and offset inertia of each shape,
then obtain their sum.

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