Number of axes 5

Weight 17 kg [37 lb.] Mounting Upright or inverted Nominal payload 1 kg [2.2 lb.] Reach 559 mm [22 in] (joint 1 axis to tool flange) Repeatability 0.05 mm [0.002 in.] Drive system Electromechanical motors Incremental encoders in each joint Transmission Harmonic drive Brakes Brakes on joints 2, 3, 4, and 5 Motion modes Teach o Automatic End-of-arm connections Servo gripper connector on wrist Pneumatic connector on wrist

Preview Dual microprocessor design 133 MHz i486DX (system processor) 60 MHz TMS320C31 DSP (motion control) Memory 4 MB RAM user memory 512KB NVRAM for application storage 1 MB flash memory for system firmware User I/O 16 digital inputs 12 digital outputs 1 analog input 4 relay outputs Front Panel interface 16x2 character, back-lit LCD display User programmable buttons and LED lights System connections External E-Stop control inputs 2 standard serial I/O ports 1 console serial port 1 teach pendant serial port Support for up to 2 additional axes Dimensions 482.6 mm [19 in.] x 266.7 mm [10.5 in.] Fits a standard 6U rack enclosure Weight 31 kg [68 lb.] Electrical Specifications AC Input voltage 100/115/230 VAC 10% Line frequency 50-60 Hz Power consumption (max) 1000 W

Mdulo mediante el cual el robot es capaz de interactuar con el entorno en el cual se encuentra instalado.

Posicin en donde el controlador reconoce en que lugar se encuentra cada articulacin, para partir de esta cantidad para los movimientos posteriores.