User Guide

2.2 Specifications
Nr of Joints
6 (4 servo joints and 2 smart servos)
Power Supply
12V DC at max 5 A
Power Consumption
Paused: 0,5 A / in motion: < 2.5 A. Fuse with 2.5 A in base
Communication
CAN at 500 kBit/s
Reach
455 mm plus gripper
Payload
200 g
Inputs / Outputs
At the base:
3 digital outputs (5V / 25 mA) and 4 digital Inputs (5V) via
D-Sub 9 poles female.
or, with 24V-DIO Extension:
3 relay out (24V/1A) and 4 digital in (24V) via D-Sub 9
poles male.
At the flange:
2 digital Outputs (5V/ 25 mA) und 12V/0,5A supply via
Harting SEK 6 poles.
Communication
Definition of position setpoints for all four joints with 20
Hz cycle. Reading of the current position and the motor
current.
2.3 System Requirements
The control the robot with the CPRog programming environment a PC with Windows
operating system is necessary (minimum values):
• Operating System: Windows 7 (32 or 64 Bit) or higher.
• .NET-Framework 3.5 or higher and DirectX in Version 9.0c
• Processor: 1.6-GHz-Pentium
• RAM: 1 GB
• Up to 50 MB disk space
• 1 free USB port for the communication with the robot, another one for joypad
operation