Description
Includes teach control power supply and RRA-2 user manual.
Configuration
Five revolute axes and integral hand.
Drive
Electrical stepper motors -- open loop control.
Controller
Microprocessor with 4K bytes of EPROM and 1K bytes of RAM located in base of unit.
Interface
Dual RS-232C asynchronous serial communications interfaces (baud rate is switch selectable between 110, 150, 300, 600, 1200, 2400, 4800, and 9600 baud).
Program Languages
BASIC® through serial port.
Teach Control
3-mode, 13 function keyboard.
External I/O
5-output and 7-input bits under computer control.
Power Requirements
12 to 14 VDC, 4.5A (cont.).
Cable
Teach control cable length 3' (900mm).
Payload
1 lb. (454 gm) max. at full extension.
Resolution
0.011" (0.25 mm) max. on each axis.
Gripping Force
3 lbs. (13 N) max.
Reach
17.5" (444 mm).
Static Load Force
4 lbs. (18 N) max.
Arm Weight
8 lbs. (4 kg).
Positioning Accuracy
± 0.030".
Speed
0 -- 7" sec (0 -- 178 mm/sec) Software controlled. 10 selectable movement rates via teach control, see manual for higher speed capability.
Control Method
PTP (Point to Point).
Programming Capacity
106.
Base Motion
± 90°
Shoulder Motion
+ 144°, - 35°.
Wrist Roll
± 180°.
Wrist Patch
± 90°.
Gripper Opening
3" max. (0 -- 75 mm).
Power Supply
Included 105 -- 125 VAC input, 13.8 VDC output, 5A. 220 VAC also available.
Application Manual
Included with purchase. Also sold separately.
Plastic Carrying Case
Standard.