10
F3 Robot Arm User Guide
99-05-31
standard or microplate fingers. For more details, read the insert on the
servo gripper.
•
Pneumatic gripper
This is a two-jaw, double-actuation air gripper with 76.2 mm [3 in.] long
angular motion replaceable fingers. Fingers can be machined to meet
specific needs. Travel is limited to 0 –– 10
°
per finger.
•
Force sensor
This is a six-axis force-moment sensor used in applications requiring
monitoring or real-time control of contact force.
End-of-Arm I/O
•
The standard configuration of the robot includes an SGIO (servo gripper
I/O) board inside the wrist. This board provides four each of opto-
isolated input and output channels (2 of the output lines are used to
control the pneumatic solenoid in standard configuration but can be
freed up if air is not needed).
•
Early F3 robots are equipped with end of arm I/O boards, which control
the solenoid but not the servo gripper. Users with this version of the
robot wishing to add a servo gripper should contact sales or customer
support group at CRS.
•
To utilize the other I/O channels of the SGIO board, it is necessary to
purchase the end of arm I/O package which comprises an internal cable,
a connector and a custom wrist cover.
•
The end of arm I/O network is expandable (additional SGIO boards can
be added to provide more I/O channels, either at end of arm or within
the controller). Contact CRS to learn more about this option.
•
An external 24V power supply is required if more than 250 mA of current
is required for I/O devices. This is provided by CRS as an add-on option.
•
There are built-in
RAPL-3
functions to support control of the air solenoid,
servo gripper, and I/O lines.
•
The I/O features and the servo gripper option cannot be used
simultaneously.
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