CHAPTER
2
Specifications
The following table gives the specifications of the
SCORA-ER 14
robot arm.
Robot Arm Specifications
Mechanical Structure
Horizontal articulated (SCARA)
Arm Length
Link 1
Link 2
270mm (10.6")
230mm (9.0")
Axis Movement
Axis Range
Effective Speed
Axis 1: Rotation
Axis 2: Rotation
Axis 3: Translation
288°
117°/sec
218°
114°/sec
182mm
211mm/sec
Axis 4: Roll; without gripper cable:
or Roll; with gripper cable:
unrestricted
370°/sec
±
527°
Links 1 and 2 combined
1.5m/sec
Maximum Operating Radius
Minimum 230mm (9.06")
Maximum 500 mm (19.69")
End Effector
Pneumatic Gripper
Electric DC servo Gripper
Hard Home
Fixed position on all axes
Feedback
Incremental optical encoders with index pulse
Actuators
DC servo motors
Transmission
Harmonic Drive gears
Maximum Payload
2 kg (4.4 lb.)
Position Repeatability
±
0.05mm (
±
0.002")
Weight
30 kg (66 lb.)
Ambient Operating Temperature
2°–40°C (36°–104°F)
User’s Manual
2 - 1
SCORA-ER 14
9603
Summary of Contents for SCORA-ER 14
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