and Dimensions

RV-MI Specifications I
Specifications
MOVEMASTER
RV.MI Drive Unit
Construction Vertical,articulated Teachingmethods MDI (manualdata input)and playback
Degreesof freedom 5 (notincludinghand) Controlsvstem PTP,all axessimultaneously
Electricaldrivesystem DC servomotors Positiondetection Photodetectorsand encoders
Reach 25O+ 160 mm Speedlevels 0-9(10levels)
Waist rotation _300"(max.120"/s) Positionmemory 629 (max.)
c
'-=
Shoulderrotation 1 3 0 ' ( m a x .7 2 " | s ) Programmemory 2,048(max.)
v

o P Elbowrotation 11 0 ' ( m a x .1 0 9 ' / s ) lnterfaces Parallel(Centronics),

8-s Wrist pitch + 90' (max.100'/s) serial(RS-232C)
Wristroll t 1 8 0 ' ( m a x .1 6 3 ' / s ) Programdevelopment Personalcomputer
Maximumpathvelocity 1,000mm/s(PTPat wristtool plate) Programming language B A S I C
Liftingcapacity 1 . 2k g i n c l .h a n d Externall/Os 1 6 i n p u t s 1, 6 o u t p u t sE, MERGENCY STOP
Positionrepeatability + 0.3 mm at wristtool plate (3 inputsconfigurable for interrupts)
Positiondirection Limitswitchesand encoders Powersupply 120V AC, singlephase,50/60Hz, 500 VA
position
Installation Horizontal Weight 23 kg
Ambienttemoerature 5 " C- 4 0 " C
Weight 1 9k g

Dimensrons
MOVEMASTERRV-M1

Base

+ +
J.- R J-t
r_l+ +
Je,l
4-49 168 6Z

250

Wristtool plate