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page 308 |
SPEED |
Sets the speed of the manipulator |
STOP |
Terminate the execution of the program. |
TOOL n |
Set motions to be relative to a tool. |
WAIT <+/-> <IE,IG> <0-15> |
Wait for a certain input condition. |
OUTPUT <+/-> <OE,OGn> |
Opens and closes gripper or externally connected |
[10-32767] |
devices. |
10.2 IBM 7535 MANIPULATOR
• In general |
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Degrees of freedom |
4 |
Maximum payload |
6kg (13.2 lb) |
Repeatability (based on constant temp., load, speed) +/-0.05mm (+/- 0.002 in.) |
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Weight |
99kg (218 lb) |
Operating Temperature |
10C to 40.6C (50F to 106F) |
Humidity (based on constant temp. load, speed) |
8% to 80% |
• Theta 1 axis |
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motion |
revolute |
Range |
0 to 200 degrees +/- 1deg. |
Resolution |
0.00459 deg. |
Low speed (note: this is set by a switch) |
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max. speed |
700 mm/sec (28 in./sec) |
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page 310 |
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Conditioning |
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moisture separator, and filtered with |
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regulator. |
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• The workspace is shown below, |
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y |
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( –650, 0, 0) |
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page 311
7535/7540 LINEAR Rate Values Available
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Programmed Rate |
Arm speed at tool tip |
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Straight line error |
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mm/sec. (in./sec) |
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mm (in.) |
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1 |
60 (2.4) |
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3.0 (0.12) |
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100 |
(3.9) |
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3.7 (0.15) |
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2 |
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140 |
(5.5) |
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4.4 (0.17) |
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3 |
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180 |
(7.1) |
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5.3 (0.21) |
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4 |
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225 |
(8.9) |
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6.2 (0.24) |
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5 |
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265 |
(10.4) |
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6.9 (0.27) |
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6 |
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305 |
(12.0) |
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7.6 (0.30) |
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7 |
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345 |
(13.6) |
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8.4 (0.33) |
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8 |
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385 |
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9.3 (0.37) |
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430 |
(16.9) |
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10.0 (0.39) |
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10 |
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430 |
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11.5 (0.45) |
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430 |
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11.5 (0.45) |
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30 |
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430 |
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11.5 (0.45) |
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50 |
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Exit linear speed and motion |
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7535 Program Speed Values for PAYLOAD Command |
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Program speed values |
Speed of theta1 |
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Speed of theta2 |
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Maximum |
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at the tool tip |
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at the tool tip |
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payload for speed |
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mm/sec (in./sec) |
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mm/sec (in./sec) |
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kg (lb) |
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1 |
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300 (11.8) |
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225 (8.9) |
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6 (13.2) |
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2 |
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500 (19.7) |
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375 (14.8) |
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6 (13.2) |
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3 |
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700 (27.6) |
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525 (20.7) |
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6 (13.2) |
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4 |
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750 (29.5) |
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575 (22.6) |
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6 (13.2) |
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5 |
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900 (35.4) |
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675 (26.6) |
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6 (13.2) |
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6 |
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1000 (39.3) |
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750 (29.5) |
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6 (13.2) |
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7 |
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1100 |
(43.3) |
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825 (32.4) |
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6 (13.2) |
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8 |
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1200 (47.2) |
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900 (35.4) |
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3.5 (7.7) |
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9 |
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1300 (51.2) |
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950 (37.4) |
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2 (4.4) |
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10 |
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1450 (57.1) |
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1000 (39.3) |
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1 (2.2) |
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0 |
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Default to speed switches |
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NOTE: Speeds in the table are for planning purposes only and are typical minimum values. Speed values only consider a single joint moving. Speed at the end of the arm is greater when multiple joints are used on a single move.