The Alpha II System Specifications

Description Robotic system with five-axis articulated arm plus controls for the cable-operated mechanical gripper and 2 additional axes (through optional auxiliary motors).

Performance Maximum payload: 3 lbs. (1.362 kg) including gripper. Maximum speed at end of arm: 51"/sec. (1295 mm/sec.) with up to a 1.0 lb. (454 gm) payload. Reach: 18.4" (467 mm) spherical radius. Repeatability: ± 0.015" (.38 mm) with total payload up to 1.5 lbs. (681 gm). Axes: 5 axes plus controls for the mechanical gripper and 2 additional axes (through optional auxiliary motors). Motions range and speed:              Base rotation Shoulder Elbow Pitch Roll      345° 145° 135° 180° 540°      106°/sec. 119° 202° 315° 315° Control Teaching methods: Teach Control with LED display and multifunction key pad or host computer. Workcell interface: Eighteen channels for optically isolated relay input/output at factory level voltages. Computer interface: Dual RS-232C asynchronous serial communications interface. Operates with any host computer language supporting ASCII I/O. Drive: Electrical stepper motors -- half step pulses. Arm movement: Coordinated movement -- all joints move simultaneously. Point-to-point or integrated path moves. Programming capacity: 900 programs steps in non-volatile memory. Controller: Real time 6502A microprocessor controls all functions. Installation Operating environment: Ambient temperature limits: 55° F to 104° F (13° C to 40° C). Mounting: The robot may be mounted and operated right-side-up or upside-down with the base in a horizontal plane. Power requirements: 115 VAC at 1.5A; 220 VAC at .75A; 100 VAC at 1.7A; 47 -- 400 HZ. Weight:              Robot arm: 30 lbs. (13.6 kg) System control:: 30 lbs. (13.6 kg) Total shipping weight: 75 lbs. (34.1 kg)