|
Parameter
|
Model
|
|||
|
Z-Arm 2140
non-collaborative
|
Z-Arm 2140C
collaborative
|
|||
|
Basic
Information |
J1-axis
|
Arm length
|
200mm
|
200mm
|
|
Rotation angle
|
±90°
|
±90°
|
||
|
J2-axis
|
Arm length
|
200mm
|
200mm
|
|
|
Rotation angle
|
±164°
|
±164°
|
||
|
Z-axis
|
Stroke
|
210mm
|
210mm
|
|
|
R-axis
|
Rotation angle
|
±180
|
±180°
|
|
|
linear velocity
|
1255.45mm/s（1.5kg payload）
|
1023.79mm/s(2kg payload)
|
||
|
Repeatability
|
±0.03mm
|
±0.03mm
|
||
|
Rated payload
|
1.5kg
|
2kg
|
||
|
Maximum payload
|
2.5kg
|
3kg
|
||
|
Degree of freedom
|
4
|
4
|
||
|
Power
|
220V/110V 50~60Hz
Adapter to 24V DC
|
50~60Hz
Adapter to 24V DC |
||
|
Communication
|
Wifi/Ethernet
|
Wifi/Ethernet
|
||
|
Extensibility
|
The built-in motion controller,
provides 10 I/O
|
The built-in motion controller,
provides 10 I/O |
||
|
I/O 口
|
Digital input (isolated)
|
5
|
5
|
|
|
Digital output (isolated)
|
5
|
5
|
||
|
Analog input(4-20mA)
|
/
|
/
|
||
|
Analog output (4-20mA)
|
/
|
/
|
||
|
Height
|
565mm
|
565mm
|
||
|
Weight
|
19kg
|
19kg
|
||
|
Base
installation parameters |
Overall size
|
250mm*250mm*10mm
|
250mm*250mm*10mm
|
|
|
Mounting hole spacing
|
200mm*200mm
with 4 M8*25 screws
|
200mm*200mm
with 4 M8*25 screws
|
||
|
Collision detection
|
×
|
√
|
||
|
Handhold teaching
|
×
|
√
|
||
