| Robot Arm Control System Specifications 
               
                
                    
  | Articulated Robot |  
  | Nominal load capacity | 5 kg | 10 kg | 20 kg |  
  | Degrees of freedom | 6 | 6 | 6 |  
  | Motion Range | Maximum reach radius | 710 mm | 1476 mm | 1739 mm |  
  | J1 | ±165˚ | ±170˚ | ±180˚ |  
  | J2 | +85˚~-125˚ | +95˚~-150˚ | +100˚~-135˚ |  
  | J3 | +185˚~-55˚ | +185˚~-85˚ | +190˚~-80˚ |  
  | J4 | ±190˚ | ±190˚ | ±200˚ |  
  | J5 | ±115˚ | ±135˚ | ±130˚ |  
  | J6 | ±360˚ | ±360˚ | ±360˚ |  
  | Controller | INCON-R8 | INCON-R8 | INCON-R8 |  
  | Position repeatability | ±0.02 mm | ±0.05 mm | ±0.06 mm |  
  | Weight | 40 kg | 140 kg | 240 kg |  Features 
				Base coordinate, tool coordinate, and TCP function make on-site calibration become easy.Point positions are teaching in by teaching function and these positions transfer to smooth and  continuous path by spline function.Thanks to inheritance HSHP character, controller can execute small path sections very smooth.The design of teaching box is light, compact and easy for hand-held; good UI for excellent  operation.Path-part program generated by host computer can be upload and download via internet.The system accepts path-part program generated by CAM to do Robot arm motion. |