Data Sheet

Options
Encoders
The role of the encoders in the R17 and as an R12 level 1 option is as watchdogs. The loop is closed after
completion of each individual motion which is not the same as servo control. The R12 encoder option comprises
miniature optical incremental encoders fitted to each axis.
Without encoders the R12 will run accurately and indefinitely open loop without error thanks to micro-stepping
drives and accurate transmission. But if the robot suffers a collision then the controller does not know and carries
on with the program even though the robot could be out of position. Such collisions usually only occur accidentally
during programming and rarely during normal running. It is necessary to run the calibrate routine after such a
collision. With the encoder option the controller notices the discrepancy immediately, stops the robot and
announces an error.
If the encoder option is not fitted ST provides a software solution in the form of a quick calibration check that can
be included in every robot cycle or n cycles. If there is an error it is reported and the system stops.
Grippers
As standard the robot terminates in a mounting flange to which can be mounted an 'end effector'. End effectors
currently include: electric gripper, SMC 10mm pneumatic gripper, vacuum pickups.
Sixth Axis
This is a simple solution that makes the 6th axis entirely
optional as opposed to being an integral part of the design.
Using a small motor and gearbox it is accurate and tough.
Programming is an extension to the Cartesian functions of
RoboForth. In this way the system can ensure the end effector
points in the same direction (same orientation to X Y Z axes)
as the robot moves around, or indeed in any direction you
choose.
Linear Track
Made to order up to 3m length, using a powerful motor and two
recirculating crossed roller bearings.